Plane: move home state into AP_AHRS

APMrover2/commands_logic.cpp

@@ -4,7 +4,7 @@
 void Rover::update_mission(void)
 {
     if (control_mode == &mode_auto) {
-        if (home_is_set != HOME_UNSET && mission.num_commands() > 1) {
+        if (ahrs.home_is_set() && mission.num_commands() > 1) {
             mission.update();
         }
     }

APMrover2/mode_rtl.cpp

@@ -4,7 +4,7 @@
 bool ModeRTL::_enter()
 {
     // refuse RTL if home has not been set
-    if (rover.home_is_set == HOME_UNSET) {
+    if (!AP::ahrs().home_is_set()) {
         return false;
     }
 

ArduPlane/AP_Arming.cpp

@@ -18,11 +18,6 @@ const AP_Param::GroupInfo AP_Arming_Plane::var_info[] = {
     AP_GROUPEND
 };
 
-enum HomeState AP_Arming_Plane::home_status() const
-{
-    return plane.home_is_set;
-}
-
 /*
   additional arming checks for plane
 

ArduPlane/AP_Arming.h

@@ -34,7 +34,6 @@ public:
 
 protected:
     bool ins_checks(bool report);
-    enum HomeState home_status() const override;
 
     // parameters
     AP_Int8                 rudder_arming_value;

ArduPlane/ArduPlane.cpp

@@ -756,7 +756,7 @@ void Plane::update_navigation()
     
     switch(control_mode) {
     case AUTO:
-        if (home_is_set != HOME_UNSET) {
+        if (ahrs.home_is_set()) {
             mission.update();
         }
         break;

ArduPlane/GCS_Mavlink.cpp

@@ -900,14 +900,14 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 new_home_loc.alt = packet.z * 100;
                 // handle relative altitude
                 if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
-                    if (plane.home_is_set == HOME_UNSET) {
+                    if (!AP::ahrs().home_is_set()) {
                         // cannot use relative altitude if home is not set
                         break;
                     }
                     new_home_loc.alt += plane.ahrs.get_home().alt;
                 }
                 plane.ahrs.set_home(new_home_loc);
-                plane.home_is_set = HOME_SET_NOT_LOCKED;
+                AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
                 plane.Log_Write_Home_And_Origin();
                 gcs().send_home(new_home_loc);
                 result = MAV_RESULT_ACCEPTED;
@@ -1194,7 +1194,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_GET_HOME_POSITION:
-            if (plane.home_is_set != HOME_UNSET) {
+            if (AP::ahrs().home_is_set()) {
                 send_home(plane.ahrs.get_home());
                 Location ekf_origin;
                 if (plane.ahrs.get_origin(ekf_origin)) {
@@ -1300,7 +1300,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
                 new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
                 plane.ahrs.set_home(new_home_loc);
-                plane.home_is_set = HOME_SET_NOT_LOCKED;
+                AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
                 plane.Log_Write_Home_And_Origin();
                 gcs().send_home(new_home_loc);
                 result = MAV_RESULT_ACCEPTED;
@@ -1712,7 +1712,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         new_home_loc.lng = packet.longitude;
         new_home_loc.alt = packet.altitude / 10;
         plane.ahrs.set_home(new_home_loc);
-        plane.home_is_set = HOME_SET_NOT_LOCKED;
+        plane.ahrs.set_home_status(HOME_SET_NOT_LOCKED);
         plane.Log_Write_Home_And_Origin();
         gcs().send_home(new_home_loc);
         gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",

ArduPlane/Log.cpp

@@ -325,7 +325,7 @@ void Plane::Log_Write_Home_And_Origin()
 #endif
 
     // log ahrs home if set
-    if (home_is_set != HOME_UNSET) {
+    if (ahrs.home_is_set()) {
         DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
     }
 }

ArduPlane/Plane.h

@@ -684,9 +684,6 @@ private:
     // Location structure defined in AP_Common
     const struct Location &home = ahrs.get_home();
 
-    // Flag for if we have g_gps lock and have set the home location in AHRS
-    enum HomeState home_is_set = HOME_UNSET;
-
     // The location of the previous waypoint.  Used for track following and altitude ramp calculations
     Location prev_WP_loc {};
 

ArduPlane/altitude.cpp

@@ -574,7 +574,7 @@ void Plane::rangefinder_height_update(void)
 {
     float distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270)*0.01f;
     
-    if ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && home_is_set != HOME_UNSET) {
+    if ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && ahrs.home_is_set()) {
         if (!rangefinder_state.have_initial_reading) {
             rangefinder_state.have_initial_reading = true;
             rangefinder_state.initial_range = distance;

ArduPlane/commands.cpp

@@ -110,7 +110,7 @@ void Plane::init_home()
     gcs().send_text(MAV_SEVERITY_INFO, "Init HOME");
 
     ahrs.set_home(gps.location());
-    home_is_set = HOME_SET_NOT_LOCKED;
+    ahrs.set_home_status(HOME_SET_NOT_LOCKED);
     Log_Write_Home_And_Origin();
     gcs().send_home(gps.location());
 
@@ -138,7 +138,7 @@ void Plane::update_home()
         // significantly
         return;
     }
-    if (home_is_set == HOME_SET_NOT_LOCKED) {
+    if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
         Location loc;
         if(ahrs.get_position(loc)) {
             ahrs.set_home(loc);

ArduPlane/commands_logic.cpp

@@ -937,7 +937,7 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
         init_home();
     } else {
         ahrs.set_home(cmd.content.location);
-        home_is_set = HOME_SET_NOT_LOCKED;
+        ahrs.set_home_status(HOME_SET_NOT_LOCKED);
         Log_Write_Home_And_Origin();
         gcs().send_home(cmd.content.location);
         // send ekf origin if set