From 420f80db75d17f2fe044b9c66fe254d4c2479fdd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Apr 2024 21:40:30 +1100
Subject: [PATCH] GCS_MAVLink: move handling of DO_SET_HOME up to GCS_MAVLink
 base class

---
 libraries/GCS_MAVLink/GCS.h          |  4 ++--
 libraries/GCS_MAVLink/GCS_Common.cpp | 17 +++++++++++++++++
 libraries/GCS_MAVLink/GCS_Dummy.h    |  3 ---
 3 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index bd26264667..abcdf00cbd 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -526,8 +526,8 @@ protected:
     virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
 
-    virtual bool set_home_to_current_location(bool lock) = 0;
-    virtual bool set_home(const Location& loc, bool lock) = 0;
+    bool set_home_to_current_location(bool lock);
+    bool set_home(const Location& loc, bool lock);
 
 #if AP_ARMING_ENABLED
     virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f7d17bd2d7..a473626b0b 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5057,6 +5057,23 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
 }
 
 
+bool GCS_MAVLINK::set_home_to_current_location(bool _lock)
+{
+#if AP_VEHICLE_ENABLED
+    return AP::vehicle()->set_home_to_current_location(_lock);
+#else
+    return false;
+#endif
+}
+
+bool GCS_MAVLINK::set_home(const Location& loc, bool _lock) {
+#if AP_VEHICLE_ENABLED
+    return AP::vehicle()->set_home(loc, _lock);
+#else
+    return false;
+#endif
+}
+
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
 {
     if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index e40968ca82..723f927dcd 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -33,9 +33,6 @@ protected:
     MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
     MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
 
-    bool set_home_to_current_location(bool _lock) override { return false; }
-    bool set_home(const Location& loc, bool _lock) override { return false; }
-
     void send_nav_controller_output() const override {};
     void send_pid_tuning() override {};
 };