AP_AHRS: move load_watchdog_home into correct cpp file

NFC, just moving the code out of the DCM backend file
ArduPilot · Sep 19, 2023 · 9bcd9df · 9bcd9df
1 parent 622b83d
commit 9bcd9df
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Showing 2 changed files with 14 additions and 16 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -2682,6 +2682,20 @@ bool AP_AHRS::set_home(const Location &loc)
     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
 // this is used to limit height during optical flow navigation
 // it will return false when no limiting is required

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -51,22 +51,6 @@ AP_AHRS_DCM::reset_gyro_drift(void)
     _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
 void
 AP_AHRS_DCM::update()