From a722fd1323f7c8930ecb095a73a177ffab1dbd4f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 30 May 2018 10:52:57 +1000
Subject: [PATCH] Rover: make setting of home boolean in preparation for sanity
 checks

---
 APMrover2/APMrover2.cpp      | 4 +++-
 APMrover2/RC_Channel.cpp     | 4 +++-
 APMrover2/Rover.h            | 4 ++--
 APMrover2/commands.cpp       | 8 ++++++--
 APMrover2/commands_logic.cpp | 8 ++++++--
 5 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 60d88f3a03..04d1a2fc9a 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -166,7 +166,9 @@ void Rover::ahrs_update()
 
     // set home from EKF if necessary and possible
     if (!ahrs.home_is_set()) {
-        set_home_to_current_location(false);
+        if (!set_home_to_current_location(false)) {
+            // ignore this failure
+        }
     }
 
     // if using the EKF get a speed update now (from accelerometers)
diff --git a/APMrover2/RC_Channel.cpp b/APMrover2/RC_Channel.cpp
index eb3e4340b5..338a3425e5 100644
--- a/APMrover2/RC_Channel.cpp
+++ b/APMrover2/RC_Channel.cpp
@@ -93,7 +93,9 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
             // if disarmed clear mission and set home to current location
             if (!rover.arming.is_armed()) {
                 rover.mode_auto.mission.clear();
-                rover.set_home_to_current_location(false);
+                if (!rover.set_home_to_current_location(false)) {
+                    // ignored
+                }
                 return;
             }
 
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index db966c0a10..f4f8ba80e5 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -406,8 +406,8 @@ private:
     void update_mission(void);
 
     // commands.cpp
-    bool set_home_to_current_location(bool lock);
-    bool set_home(const Location& loc, bool lock);
+    bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
+    bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
     void update_home();
 
     // compat.cpp
diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index cd44c99adf..c60c974c1a 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -30,7 +30,9 @@ bool Rover::set_home(const Location& loc, bool lock)
     const bool home_was_set = ahrs.home_is_set();
 
     // set ahrs home
-    ahrs.set_home(loc);
+    if (!ahrs.set_home(loc)) {
+        return false;
+    }
 
     if (!home_was_set) {
         // log new home position which mission library will pull from ahrs
@@ -82,5 +84,7 @@ void Rover::update_home()
         return;
     }
 
-    ahrs.set_home(loc);
+    if (!ahrs.set_home(loc)) {
+        // silently ignored...
+    }
 }
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index 1aa9ba4ec2..34bbe0e098 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -349,9 +349,13 @@ void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
 void ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
 {
     if (cmd.p1 == 1 && rover.have_position) {
-        rover.set_home_to_current_location(false);
+        if (!rover.set_home_to_current_location(false)) {
+            // ignored...
+        }
     } else {
-        rover.set_home(cmd.content.location, false);
+        if (!rover.set_home(cmd.content.location, false)) {
+            // ignored...
+        }
     }
 }