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AP_AHRS: add sanity checks for home location being set

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Peter Barker 2019-02-13 13:46:36 +11:00 committed by Peter Barker
parent a722fd1323
commit ab9c084179
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1033,6 +1033,14 @@ bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret) const
bool AP_AHRS_DCM::set_home(const Location &loc) bool AP_AHRS_DCM::set_home(const Location &loc)
{ {
// check location is valid
if (loc.lat == 0 && loc.lng == 0 && loc.alt == 0) {
return false;
}
if (!check_latlng(loc)) {
return false;
}
_home = loc; _home = loc;
_home_is_set = true; _home_is_set = true;