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Rover: remove logging of first home location into CMD message set

This commit is contained in:
Peter Barker 2023-01-01 11:27:30 +11:00 committed by Andrew Tridgell
parent 7e3233f8e8
commit 6e563dd834
1 changed files with 0 additions and 12 deletions
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12
Rover/commands.cpp
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@ -19,23 +19,11 @@ bool Rover::set_home_to_current_location(bool lock)
// returns true if home location set successfully // returns true if home location set successfully
bool Rover::set_home(const Location& loc, bool lock) bool Rover::set_home(const Location& loc, bool lock)
{ {
const bool home_was_set = ahrs.home_is_set();
// set ahrs home // set ahrs home
if (!ahrs.set_home(loc)) { if (!ahrs.set_home(loc)) {
return false; return false;
} }
if (!home_was_set) {
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
logger.Write_Mission_Cmd(mode_auto.mission, temp_cmd);
}
}
}
// lock home position // lock home position
if (lock) { if (lock) {
ahrs.lock_home(); ahrs.lock_home();