Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduPlane: move handling of DO_SET_HOME up to GCS_MAVLink base class

This commit is contained in:
Peter Barker 2024-04-03 21:40:30 +11:00 committed by Andrew Tridgell
parent 5d41125b49
commit 42ce0867ae
3 changed files with 11 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduPlane/GCS_Mavlink.cpp
View File

@ -781,25 +781,25 @@ void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
}
bool GCS_MAVLINK_Plane::set_home_to_current_location(bool _lock)
bool Plane::set_home_to_current_location(bool _lock)
{
if (!plane.set_home_persistently(AP::gps().location())) {
if (!set_home_persistently(AP::gps().location())) {
return false;
}
if (_lock) {
AP::ahrs().lock_home();
}
if ((plane.control_mode == &plane.mode_rtl)
if ((control_mode == &mode_rtl)
#if HAL_QUADPLANE_ENABLED
|| (plane.control_mode == &plane.mode_qrtl)
|| (control_mode == &mode_qrtl)
#endif
) {
// if in RTL head to the updated home location
plane.control_mode->enter();
control_mode->enter();
}
return true;
}
bool GCS_MAVLINK_Plane::set_home(const Location& loc, bool _lock)
bool Plane::set_home(const Location& loc, bool _lock)
{
if (!AP::ahrs().set_home(loc)) {
return false;
@ -807,13 +807,13 @@ bool GCS_MAVLINK_Plane::set_home(const Location& loc, bool _lock)
if (_lock) {
AP::ahrs().lock_home();
}
if ((plane.control_mode == &plane.mode_rtl)
if ((control_mode == &mode_rtl)
#if HAL_QUADPLANE_ENABLED
|| (plane.control_mode == &plane.mode_qrtl)
|| (control_mode == &mode_qrtl)
#endif
) {
// if in RTL head to the updated home location
plane.control_mode->enter();
control_mode->enter();
}
return true;
}

2
ArduPlane/GCS_Mavlink.h
View File

@ -42,8 +42,6 @@ protected:
bool persist_streamrates() const override { return true; }
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
uint64_t capabilities() const override;
void send_nav_controller_output() const override;

2
ArduPlane/Plane.h
View File

@ -986,6 +986,8 @@ private:
// set home location and store it persistently:
bool set_home_persistently(const Location &loc) WARN_IF_UNUSED;
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
// control_modes.cpp
void read_control_switch();