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AP_AHRS: notify and log home changes

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Peter Barker 2018-10-10 14:27:00 +11:00 committed by Andrew Tridgell
parent a90cfc7db7
commit e29dbbf158
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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@ -22,6 +22,7 @@
*/
#include "AP_AHRS.h"
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -1030,6 +1031,13 @@ void AP_AHRS_DCM::set_home(const Location &loc)
_home = loc;
_home.options = 0;
_home_is_set = true;
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
// send new home and ekf origin to GCS
gcs().send_home();
gcs().send_ekf_origin();
}
// a relative ground position to home in meters, Down