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Sub: split home-set and home-locked state

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Peter Barker 2018-05-18 13:00:01 +10:00 committed by Andrew Tridgell
parent ad600fff68
commit 69d8980608
2 changed files with 5 additions and 11 deletions
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14
ArduSub/commands.cpp
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@ -1,12 +1,5 @@
#include "Sub.h"
/*
* the home_state has a number of possible values (see enum HomeState in defines.h's)
* HOME_UNSET = home is not set, no GPS positions yet received
* HOME_SET_NOT_LOCKED = home is set to EKF origin or armed location (can be moved)
* HOME_SET_AND_LOCKED = home has been set by user, cannot be moved except by user initiated do-set-home command
*/
// checks if we should update ahrs/RTL home position from the EKF
void Sub::update_home_from_EKF()
{
@ -69,15 +62,16 @@ bool Sub::set_home(const Location& loc, bool lock)
return false;
}
const bool home_was_set = ahrs.home_is_set();
// set ahrs home (used for RTL)
ahrs.set_home(loc);
// init inav and compass declination
if (!ahrs.home_is_set()) {
if (!home_was_set) {
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc);
// record home is set
ahrs.set_home_status(HOME_SET_NOT_LOCKED);
Log_Write_Event(DATA_SET_HOME);
// log new home position which mission library will pull from ahrs
@ -91,7 +85,7 @@ bool Sub::set_home(const Location& loc, bool lock)
// lock home position
if (lock) {
ahrs.set_home_status(HOME_SET_AND_LOCKED);
ahrs.lock_home();
}
// log ahrs home and ekf origin dataflash

2
ArduSub/motors.cpp
View File

@ -50,7 +50,7 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
// Always use absolute altitude for ROV
// ahrs.resetHeightDatum();
// Log_Write_Event(DATA_EKF_ALT_RESET);
} else if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
} else if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
// Reset home position if it has already been set before (but not locked)
set_home_to_current_location(false);
}