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Copter: command-long DO_SET_HOME check first param is zero

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Also do not use current location just because lat,lon,alt are all zero
This commit is contained in:
Randy Mackay 2017-09-19 16:21:59 +09:00
parent d982cfed4a
commit a8a5c1d332
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/GCS_Mavlink.cpp
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@ -973,11 +973,15 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// param6 : longitude
// param7 : altitude (absolute)
result = MAV_RESULT_FAILED; // assume failure
if(is_equal(packet.param1,1.0f) || (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7))) {
if (is_equal(packet.param1,1.0f)) {
if (copter.set_home_to_current_location(true)) {
result = MAV_RESULT_ACCEPTED;
}
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;