AP_Mount: support MAV_MOUNT_MODE_HOME_LOCATION to point at HOME

libraries/AP_Mount/AP_Mount_Alexmos.cpp

@@ -57,6 +57,18 @@ void AP_Mount_Alexmos::update()
             }
             break;
 
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            // constantly update the home location:
+            if (!AP::ahrs().home_is_set()) {
+                break;
+            }
+            _state._roi_target = AP::ahrs().get_home();
+            _state._roi_target_set = true;
+            if (calc_angle_to_roi_target(_angle_ef_target_rad, true, false)) {
+                control_axis(_angle_ef_target_rad, false);
+            }
+            break;
+
         case MAV_MOUNT_MODE_SYSID_TARGET:
             if (calc_angle_to_sysid_target(_angle_ef_target_rad,
                                            true,

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -85,6 +85,13 @@ void AP_Mount_Backend::control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_
             break;
         }
 
+        case MAV_MOUNT_MODE_HOME_LOCATION: {
+            // set the target gps location
+            _state._roi_target = AP::ahrs().get_home();
+            _state._roi_target_set = true;
+            break;
+        }
+
         default:
             // do nothing
             break;

libraries/AP_Mount/AP_Mount_SToRM32.cpp

@@ -64,6 +64,18 @@ void AP_Mount_SToRM32::update()
             }
             break;
 
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            // constantly update the home location:
+            if (!AP::ahrs().home_is_set()) {
+                break;
+            }
+            _state._roi_target = AP::ahrs().get_home();
+            _state._roi_target_set = true;
+            if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true)) {
+                resend_now = true;
+            }
+            break;
+
         case MAV_MOUNT_MODE_SYSID_TARGET:
             if (calc_angle_to_sysid_target(_angle_ef_target_rad, true, true)) {
                 resend_now = true;

libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp

@@ -80,6 +80,18 @@ void AP_Mount_SToRM32_serial::update()
             }
             break;
 
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            // constantly update the home location:
+            if (!AP::ahrs().home_is_set()) {
+                break;
+            }
+            _state._roi_target = AP::ahrs().get_home();
+            _state._roi_target_set = true;
+            if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true)) {
+                resend_now = true;
+            }
+            break;
+
         case MAV_MOUNT_MODE_SYSID_TARGET:
             if (calc_angle_to_sysid_target(_angle_ef_target_rad,
                                            true,

libraries/AP_Mount/AP_Mount_Servo.cpp

@@ -76,6 +76,18 @@ void AP_Mount_Servo::update()
             break;
         }
 
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            // constantly update the home location:
+            if (!AP::ahrs().home_is_set()) {
+                break;
+            }
+            _state._roi_target = AP::ahrs().get_home();
+            _state._roi_target_set = true;
+            if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, false)) {
+                stabilize();
+            }
+            break;
+
         case MAV_MOUNT_MODE_SYSID_TARGET:
             if (calc_angle_to_sysid_target(_angle_ef_target_rad,
                                            _flags.tilt_control,

libraries/AP_Mount/AP_Mount_SoloGimbal.cpp

@@ -69,13 +69,22 @@ void AP_Mount_SoloGimbal::update()
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
             _gimbal.set_lockedToBody(false);
-            if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true)) {
+            UNUSED_RESULT(calc_angle_to_roi_target(_angle_ef_target_rad, true, true));
+            break;
+
+        case MAV_MOUNT_MODE_HOME_LOCATION:
+            // constantly update the home location:
+            if (!AP::ahrs().home_is_set()) {
+                break;
             }
+            _state._roi_target = AP::ahrs().get_home();
+            _state._roi_target_set = true;
+            _gimbal.set_lockedToBody(false);
+            UNUSED_RESULT(calc_angle_to_roi_target(_angle_ef_target_rad, true, true));
             break;
 
         case MAV_MOUNT_MODE_SYSID_TARGET:
-            if (calc_angle_to_sysid_target(_angle_ef_target_rad, true, true)) {
+            UNUSED_RESULT(calc_angle_to_sysid_target(_angle_ef_target_rad, true, true));
-            }
             break;
 
         default: