ardupilot/ArduSub/AP_State.cpp

25 lines
674 B
C++

#include "Sub.h"
// set_home_state - update home state
void Sub::set_home_state(enum HomeState new_home_state)
{
// if no change, exit immediately
if (ap.home_state == new_home_state) {
return;
}
// update state
ap.home_state = new_home_state;
// log if home has been set
if (new_home_state == HOME_SET_NOT_LOCKED || new_home_state == HOME_SET_AND_LOCKED) {
Log_Write_Event(DATA_SET_HOME);
}
}
// home_is_set - returns true if home positions has been set (to GPS location, armed location or EKF origin)
bool Sub::home_is_set()
{
return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
}