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AP_AHRS: move home_status into AP_AHRS

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Storing home in the AHRS object but not its state is clearly evil.

Fix that.
This commit is contained in:
Peter Barker 2018-03-16 12:04:49 +11:00 committed by Randy Mackay
parent 8f8256b9f5
commit 3a5807ae56
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_AHRS/AP_AHRS.h
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@ -462,6 +462,16 @@ public:
return _home; return _home;
} }
enum HomeState home_status(void) const {
return _home_status;
}
void set_home_status(enum HomeState new_status) {
_home_status = new_status;
}
bool home_is_set(void) const {
return _home_status != HOME_UNSET;
}
// set the home location in 10e7 degrees. This should be called // set the home location in 10e7 degrees. This should be called
// when the vehicle is at this position. It is assumed that the // when the vehicle is at this position. It is assumed that the
// current barometer and GPS altitudes correspond to this altitude // current barometer and GPS altitudes correspond to this altitude
@ -673,6 +683,9 @@ protected:
private: private:
static AP_AHRS *_singleton; static AP_AHRS *_singleton;
// Flag for if we have g_gps lock and have set the home location in AHRS
enum HomeState _home_status = HOME_UNSET;
}; };
#include "AP_AHRS_DCM.h" #include "AP_AHRS_DCM.h"