From 98daf23d8870267e9b4c40a5350095b42c2fa4da Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Apr 2024 21:40:30 +1100
Subject: [PATCH] AntennaTracker: move handling of DO_SET_HOME up to
 GCS_MAVLink base class

---
 AntennaTracker/GCS_Mavlink.cpp | 9 +--------
 AntennaTracker/GCS_Mavlink.h   | 3 ---
 AntennaTracker/Tracker.cpp     | 2 +-
 AntennaTracker/Tracker.h       | 3 ++-
 AntennaTracker/sensors.cpp     | 2 +-
 AntennaTracker/system.cpp      | 7 ++++++-
 6 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 270d3a74df..c99d22bb0d 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -451,13 +451,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_int_packet(const mavlink_command_
     }
 }
 
-bool GCS_MAVLINK_Tracker::set_home_to_current_location(bool _lock) {
-    return tracker.set_home(AP::gps().location());
-}
-bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool _lock) {
-    return tracker.set_home(loc);
-}
-
 void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
@@ -584,7 +577,7 @@ void GCS_MAVLINK_Tracker::handle_message_mission_item(const mavlink_message_t &m
 
         // check if this is the HOME wp
         if (packet.seq == 0) {
-            if (!tracker.set_home(tell_command)) {
+            if (!tracker.set_home(tell_command, false)) {
                 result = MAV_MISSION_ERROR;
                 goto mission_failed;
             }
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 79610f0031..a431f5217e 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -27,9 +27,6 @@ protected:
         return 0; // what if we have been picked up and carried somewhere?
     }
 
-    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
-
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
 
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index 5fd202b1bd..3c6398ec6a 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -92,7 +92,7 @@ void Tracker::one_second_loop()
         // set home to current location
         Location temp_loc;
         if (ahrs.get_location(temp_loc)) {
-            if (!set_home(temp_loc)){
+            if (!set_home(temp_loc, false)) {
                 // fail silently
             }
         }
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 8c745fcf41..975a271b6e 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -197,7 +197,8 @@ private:
     void init_ardupilot() override;
     bool get_home_eeprom(Location &loc) const;
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
-    bool set_home(const Location &temp) WARN_IF_UNUSED;
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
+    bool set_home(const Location &temp, bool lock) override WARN_IF_UNUSED;
     void prepare_servos();
     void set_mode(Mode &newmode, ModeReason reason);
     bool set_mode(uint8_t new_mode, ModeReason reason) override;
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index 55946944d9..72094fe15a 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -51,7 +51,7 @@ void Tracker::update_GPS(void)
                 // Now have an initial GPS position
                 // use it as the HOME position in future startups
                 current_loc = gps.location();
-                IGNORE_RETURN(set_home(current_loc));
+                IGNORE_RETURN(set_home(current_loc, false));
                 ground_start_count = 0;
             }
         }
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 953cde2e07..b2a2de8ca3 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -116,7 +116,12 @@ bool Tracker::set_home_eeprom(const Location &temp)
     return true;
 }
 
-bool Tracker::set_home(const Location &temp)
+bool Tracker::set_home_to_current_location(bool lock)
+{
+    return set_home(AP::gps().location(), lock);
+}
+
+bool Tracker::set_home(const Location &temp, bool lock)
 {
     // check EKF origin has been set
     Location ekf_origin;