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Remove erratic logging of first home position into CMD log #22546

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merged 3 commits into from
Jan 3, 2023
Merged

Remove erratic logging of first home position into CMD log #22546

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d1792b5
ArduCopter: remove logging of first home location into CMD message set
peterbarker Jan 1, 2023
6e1dbad
ArduSub: remove logging of first home location into CMD message set
peterbarker Jan 1, 2023
266e3bf
Rover: remove logging of first home location into CMD message set
peterbarker Jan 1, 2023
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16 changes: 0 additions & 16 deletions ArduCopter/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,6 @@ bool Copter::set_home_to_current_location(bool lock) {
}

// set_home - sets ahrs home (used for RTL) to specified location
// initialises inertial nav and compass on first call
// returns true if home location set successfully
bool Copter::set_home(const Location& loc, bool lock)
{
Expand All @@ -69,26 +68,11 @@ bool Copter::set_home(const Location& loc, bool lock)
return false;
}

const bool home_was_set = ahrs.home_is_set();

// set ahrs home (used for RTL)
if (!ahrs.set_home(loc)) {
return false;
}

// init inav and compass declination
if (!home_was_set) {
#if MODE_AUTO_ENABLED == ENABLED
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
logger.Write_Mission_Cmd(mode_auto.mission, temp_cmd);
}
}
#endif
}

// lock home position
if (lock) {
ahrs.lock_home();
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14 changes: 0 additions & 14 deletions ArduSub/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,6 @@ bool Sub::set_home_to_current_location(bool lock)
}

// set_home - sets ahrs home (used for RTL) to specified location
// initialises inertial nav and compass on first call
// returns true if home location set successfully
bool Sub::set_home(const Location& loc, bool lock)
{
Expand All @@ -61,24 +60,11 @@ bool Sub::set_home(const Location& loc, bool lock)
return false;
}

const bool home_was_set = ahrs.home_is_set();

// set ahrs home (used for RTL)
if (!ahrs.set_home(loc)) {
return false;
}

// init inav and compass declination
if (!home_was_set) {
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) {
logger.Write_Mission_Cmd(mission, temp_cmd);
}
}
}

// lock home position
if (lock) {
ahrs.lock_home();
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12 changes: 0 additions & 12 deletions Rover/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,23 +19,11 @@ bool Rover::set_home_to_current_location(bool lock)
// returns true if home location set successfully
bool Rover::set_home(const Location& loc, bool lock)
{
const bool home_was_set = ahrs.home_is_set();

// set ahrs home
if (!ahrs.set_home(loc)) {
return false;
}

if (!home_was_set) {
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
logger.Write_Mission_Cmd(mode_auto.mission, temp_cmd);
}
}
}

// lock home position
if (lock) {
ahrs.lock_home();
Expand Down