ardupilot/ArduCopter/commands.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// run this at setup on the ground
// -------------------------------
static void init_home()
{
set_home_is_set(true);
// copter uses 0 home altitude
Location loc = gps.location();
ahrs.set_home(loc);
inertial_nav.setup_home_position();
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) {
Log_Write_Cmd(temp_cmd);
}
}
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc);
scaleLongUp = 1.0f/scaleLongDown;
}