mirror of https://github.com/ArduPilot/ardupilot
Copter: use a common home with AHRS
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@ -604,9 +604,8 @@ static int32_t baro_alt;
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////////////////////////////////////////////////////////////////////////////////
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// 3D Location vectors
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////////////////////////////////////////////////////////////////////////////////
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// home location is stored when we have a good GPS lock and arm the copter
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// Can be reset each the copter is re-armed
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static struct Location home;
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static const struct Location &home = ahrs.get_home();
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// Current location of the copter
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static struct Location current_loc;
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// Holds the current loaded command from the EEPROM for navigation
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@ -117,10 +117,7 @@ static int32_t get_RTL_alt()
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static void init_home()
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{
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set_home_is_set(true);
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = g_gps->longitude; // Lon * 10**7
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home.lat = g_gps->latitude; // Lat * 10**7
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home.alt = 0; // Home is always 0
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ahrs.set_home(g_gps->latitude, g_gps->longitude, 0);
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// Save Home to EEPROM
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// -------------------
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@ -645,10 +645,7 @@ static void do_set_home()
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if(command_cond_queue.p1 == 1) {
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init_home();
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} else {
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home.id = MAV_CMD_NAV_WAYPOINT;
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home.lng = command_cond_queue.lng; // Lon * 10**7
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home.lat = command_cond_queue.lat; // Lat * 10**7
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home.alt = 0;
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ahrs.set_home(command_cond_queue.lat, command_cond_queue.lng, 0);
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//home_is_set = true;
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set_home_is_set(true);
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}
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