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Rover: make setting of home boolean in preparation for sanity checks

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This commit is contained in:
Peter Barker 2018-05-30 10:52:57 +10:00 committed by Peter Barker
parent f4097d254c
commit a722fd1323
5 changed files with 20 additions and 8 deletions
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4
APMrover2/APMrover2.cpp
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@ -166,7 +166,9 @@ void Rover::ahrs_update()
// set home from EKF if necessary and possible // set home from EKF if necessary and possible
if (!ahrs.home_is_set()) { 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) // if using the EKF get a speed update now (from accelerometers)

4
APMrover2/RC_Channel.cpp
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@ -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 disarmed clear mission and set home to current location
if (!rover.arming.is_armed()) { if (!rover.arming.is_armed()) {
rover.mode_auto.mission.clear(); rover.mode_auto.mission.clear();
rover.set_home_to_current_location(false); if (!rover.set_home_to_current_location(false)) {
// ignored
}
return; return;
} }

4
APMrover2/Rover.h
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@ -406,8 +406,8 @@ private:
void update_mission(void); void update_mission(void);
// commands.cpp // commands.cpp
bool set_home_to_current_location(bool lock); bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock); bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
void update_home(); void update_home();
// compat.cpp // compat.cpp

8
APMrover2/commands.cpp
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@ -30,7 +30,9 @@ bool Rover::set_home(const Location& loc, bool lock)
const bool home_was_set = ahrs.home_is_set(); const bool home_was_set = ahrs.home_is_set();
// set ahrs home // set ahrs home
ahrs.set_home(loc); if (!ahrs.set_home(loc)) {
return false;
}
if (!home_was_set) { if (!home_was_set) {
// log new home position which mission library will pull from ahrs // log new home position which mission library will pull from ahrs
@ -82,5 +84,7 @@ void Rover::update_home()
return; return;
} }
ahrs.set_home(loc); if (!ahrs.set_home(loc)) {
// silently ignored...
}
} }

8
APMrover2/commands_logic.cpp
View File

@ -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) void ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
{ {
if (cmd.p1 == 1 && rover.have_position) { if (cmd.p1 == 1 && rover.have_position) {
rover.set_home_to_current_location(false); if (!rover.set_home_to_current_location(false)) {
// ignored...
}
} else { } else {
rover.set_home(cmd.content.location, false); if (!rover.set_home(cmd.content.location, false)) {
// ignored...
}
} }
} }