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Rover: leave AHRS to log and notify home changes

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This commit is contained in:
Peter Barker 2018-10-10 14:26:06 +11:00 committed by Andrew Tridgell
parent e29dbbf158
commit 50cb391dea
1 changed files with 0 additions and 9 deletions
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9
APMrover2/commands.cpp
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@ -69,13 +69,6 @@ bool Rover::set_home(const Location& loc, bool lock)
// Save Home to EEPROM
mission.write_home_to_storage();
// log ahrs home and ekf origin dataflash
ahrs.Log_Write_Home_And_Origin();
// send new home and ekf origin to GCS
gcs().send_home();
gcs().send_ekf_origin();
// send text of home position to ground stations
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %.2fm",
static_cast<double>(loc.lat * 1.0e-7f),
@ -98,8 +91,6 @@ void Rover::update_home()
if (ahrs.get_position(loc)) {
if (get_distance(loc, ahrs.get_home()) > DISTANCE_HOME_MAX) {
ahrs.set_home(loc);
ahrs.Log_Write_Home_And_Origin();
gcs().send_home();
}
}
}