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Rover: split home-set and home-locked state

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Peter Barker 2018-05-18 12:57:50 +10:00 committed by Andrew Tridgell
parent 28b4794816
commit c99cc465e6
1 changed files with 5 additions and 7 deletions
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12
APMrover2/commands.cpp
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@ -46,14 +46,12 @@ bool Rover::set_home(const Location& loc, bool lock)
return false;
}
const bool home_was_set = ahrs.home_is_set();
// set ahrs home
ahrs.set_home(loc);
// init compass declination
if (!ahrs.home_is_set()) {
// record home is set
ahrs.set_home_status(HOME_SET_NOT_LOCKED);
if (!home_was_set) {
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
@ -65,7 +63,7 @@ bool Rover::set_home(const Location& loc, bool lock)
// lock home position
if (lock) {
ahrs.set_home_status(HOME_SET_AND_LOCKED);
ahrs.lock_home();
}
// Save Home to EEPROM
@ -117,7 +115,7 @@ void Rover::set_system_time_from_GPS()
*/
void Rover::update_home()
{
if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
if (!ahrs.home_is_locked()) {
Location loc;
if (ahrs.get_position(loc)) {
if (get_distance(loc, ahrs.get_home()) > DISTANCE_HOME_MAX) {