From 76f5db93dce8cfedea8729a4a1672993252a41a0 Mon Sep 17 00:00:00 2001
From: CallanDaniel <callanrobertdaniel@gmail.com>
Date: Tue, 22 Jun 2021 14:26:20 +0200
Subject: [PATCH] AP_AHRS: add semaphore around set_home()

added semaphore around set_home() to avoid thread racing
---
 libraries/AP_AHRS/AP_AHRS_DCM.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 6f6486b42e..4d1e73af1c 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1089,6 +1089,7 @@ bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret)
 
 bool AP_AHRS_DCM::set_home(const Location &loc)
 {
+    WITH_SEMAPHORE(_rsem);
     // check location is valid
     if (loc.lat == 0 && loc.lng == 0 && loc.alt == 0) {
         return false;