mirror of https://github.com/ArduPilot/ardupilot
32 lines
814 B
Plaintext
32 lines
814 B
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// run this at setup on the ground
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// -------------------------------
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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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// copter uses 0 home altitude
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Location loc = gps.location();
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loc.alt = 0;
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ahrs.set_home(loc);
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inertial_nav.setup_home_position();
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// log new home position which mission library will pull from ahrs
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if (g.log_bitmask & MASK_LOG_CMD) {
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AP_Mission::Mission_Command temp_cmd;
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if (mission.read_cmd_from_storage(0, temp_cmd)) {
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Log_Write_Cmd(temp_cmd);
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}
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}
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// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
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scaleLongDown = longitude_scale(home);
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scaleLongUp = 1.0f/scaleLongDown;
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}
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