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AP_AHRS: move load_watchdog_home into correct cpp file

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NFC, just moving the code out of the DCM backend file
This commit is contained in:
Peter Barker 2023-09-18 21:30:16 +10:00 committed by Andrew Tridgell
parent 622b83da9e
commit 9bcd9df7dd
2 changed files with 14 additions and 16 deletions
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14
libraries/AP_AHRS/AP_AHRS.cpp
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@ -2682,6 +2682,20 @@ bool AP_AHRS::set_home(const Location &loc)
return true; return true;
} }
/* if this was a watchdog reset then get home from backup registers */
void AP_AHRS::load_watchdog_home()
{
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
if (hal.util->was_watchdog_reset() && (pd.home_lat != 0 || pd.home_lon != 0)) {
_home.lat = pd.home_lat;
_home.lng = pd.home_lon;
_home.set_alt_cm(pd.home_alt_cm, Location::AltFrame::ABSOLUTE);
_home_is_set = true;
_home_locked = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Restored watchdog home");
}
}
// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in metres and a validity flag // get_hgt_ctrl_limit - get maximum height to be observed by the control loops in metres and a validity flag
// this is used to limit height during optical flow navigation // this is used to limit height during optical flow navigation
// it will return false when no limiting is required // it will return false when no limiting is required

16
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -51,22 +51,6 @@ AP_AHRS_DCM::reset_gyro_drift(void)
_omega_I_sum_time = 0; _omega_I_sum_time = 0;
} }
/* if this was a watchdog reset then get home from backup registers */
void AP_AHRS::load_watchdog_home()
{
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
if (hal.util->was_watchdog_reset() && (pd.home_lat != 0 || pd.home_lon != 0)) {
_home.lat = pd.home_lat;
_home.lng = pd.home_lon;
_home.set_alt_cm(pd.home_alt_cm, Location::AltFrame::ABSOLUTE);
_home_is_set = true;
_home_locked = true;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Restored watchdog home");
}
}
// run a full DCM update round // run a full DCM update round
void void
AP_AHRS_DCM::update() AP_AHRS_DCM::update()