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Sub: move handling of get_home_position up

This commit is contained in:
Peter Barker 2018-03-16 15:13:25 +11:00 committed by Randy Mackay
parent edcfa7ffd4
commit c9664a9923
1 changed files with 0 additions and 11 deletions
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11
ArduSub/GCS_Mavlink.cpp
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@ -1193,17 +1193,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_GET_HOME_POSITION:
if (AP::ahrs().home_is_set()) {
send_home(sub.ahrs.get_home());
Location ekf_origin;
if (sub.ahrs.get_origin(ekf_origin)) {
send_ekf_origin(ekf_origin);
}
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short