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GCS_MAVLink: take 0,0 as meaning set-home-to-current-location

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This isn't in spec, but is what Sub used to do, and what other vehicles
also used to do.

We treat 0,0 as "current location" in various other places, so it kind
of makes sense here too.
This commit is contained in:
Peter Barker 2019-03-19 16:34:07 +11:00 committed by Peter Barker
parent b3f76e39ec
commit 236056ffbd
1 changed files with 4 additions and 4 deletions
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8
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3523,8 +3523,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_long_t &packe
MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_long_t &packet)
{
// if param1 is 1 use current location:
if (is_equal(packet.param1, 1.0f)) {
if (is_equal(packet.param1, 1.0f) || (is_zero(packet.param5) && is_zero(packet.param6))) {
// param1 is 1 (or both lat and lon are zero); use current location
if (!set_home_to_current_location(true)) {
return MAV_RESULT_FAILED;
}
@ -3707,8 +3707,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const Location &roi_loc)
MAV_RESULT GCS_MAVLINK::handle_command_int_do_set_home(const mavlink_command_int_t &packet)
{
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
// param1 is 1 (or both lat and lon are zero); use current location
if (!set_home_to_current_location(true)) {
return MAV_RESULT_FAILED;
}