mirror of https://github.com/ArduPilot/ardupilot
ArduSub: remove logging of first home location into CMD message set
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287b6e0364
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@ -51,7 +51,6 @@ bool Sub::set_home_to_current_location(bool lock)
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// set_home - sets ahrs home (used for RTL) to specified location
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// set_home - sets ahrs home (used for RTL) to specified location
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// initialises inertial nav and compass on first call
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// returns true if home location set successfully
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// returns true if home location set successfully
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bool Sub::set_home(const Location& loc, bool lock)
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bool Sub::set_home(const Location& loc, bool lock)
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{
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{
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@ -61,24 +60,11 @@ bool Sub::set_home(const Location& loc, bool lock)
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return false;
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return false;
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}
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}
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const bool home_was_set = ahrs.home_is_set();
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// set ahrs home (used for RTL)
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// set ahrs home (used for RTL)
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if (!ahrs.set_home(loc)) {
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if (!ahrs.set_home(loc)) {
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return false;
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return false;
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}
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}
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// init inav and compass declination
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if (!home_was_set) {
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// log new home position which mission library will pull from ahrs
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if (should_log(MASK_LOG_CMD)) {
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AP_Mission::Mission_Command temp_cmd;
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if (mission.read_cmd_from_storage(0, temp_cmd)) {
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logger.Write_Mission_Cmd(mission, temp_cmd);
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}
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}
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}
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// lock home position
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// lock home position
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if (lock) {
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if (lock) {
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ahrs.lock_home();
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ahrs.lock_home();
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