Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: lock home when it is set from the GCS

This commit is contained in:
Peter Barker 2018-05-29 13:38:08 +10:00 committed by Andrew Tridgell
parent 18c4823427
commit ac729f4614
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/GCS_Mavlink.cpp
View File

@ -777,6 +777,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_FAILED; // assume failure result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1, 1.0f)) { if (is_equal(packet.param1, 1.0f)) {
plane.set_home_persistently(AP::gps().location()); plane.set_home_persistently(AP::gps().location());
AP::ahrs().lock_home();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {
// ensure param1 is zero // ensure param1 is zero
@ -811,6 +812,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.alt += plane.ahrs.get_home().alt; new_home_loc.alt += plane.ahrs.get_home().alt;
} }
plane.set_home(new_home_loc); plane.set_home(new_home_loc);
AP::ahrs().lock_home();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;
@ -1072,6 +1074,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_FAILED; // assume failure result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
plane.set_home_persistently(AP::gps().location()); plane.set_home_persistently(AP::gps().location());
AP::ahrs().lock_home();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {
// ensure param1 is zero // ensure param1 is zero
@ -1091,6 +1094,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f); new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f); new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
plane.set_home(new_home_loc); plane.set_home(new_home_loc);
AP::ahrs().lock_home();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;