Move AHRS functions out of AP_AHRS_DCM.cpp

libraries/AP_AHRS/AP_AHRS.cpp

@@ -2640,6 +2640,62 @@ bool AP_AHRS::_get_origin(Location &ret) const
     return false;
 }
 
+bool AP_AHRS::set_home(const Location &loc)
+{
+    WITH_SEMAPHORE(_rsem);
+    // check location is valid
+    if (loc.lat == 0 && loc.lng == 0 && loc.alt == 0) {
+        return false;
+    }
+    if (!loc.check_latlng()) {
+        return false;
+    }
+    // home must always be global frame at the moment as .alt is
+    // accessed directly by the vehicles and they may not be rigorous
+    // in checking the frame type.
+    Location tmp = loc;
+    if (!tmp.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
+        return false;
+    }
+
+#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
+    if (!_home_is_set) {
+        // record home is set
+        AP::logger().Write_Event(LogEvent::SET_HOME);
+    }
+#endif
+
+    _home = tmp;
+    _home_is_set = true;
+
+    Log_Write_Home_And_Origin();
+
+    // send new home and ekf origin to GCS
+    GCS_SEND_MESSAGE(MSG_HOME);
+    GCS_SEND_MESSAGE(MSG_ORIGIN);
+
+    AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
+    pd.home_lat = loc.lat;
+    pd.home_lon = loc.lng;
+    pd.home_alt_cm = loc.alt;
+
+    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

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()
@@ -1119,48 +1103,6 @@ bool AP_AHRS_DCM::get_unconstrained_airspeed_estimate(uint8_t airspeed_index, fl
     return false;
 }
 
-bool AP_AHRS::set_home(const Location &loc)
-{
-    WITH_SEMAPHORE(_rsem);
-    // check location is valid
-    if (loc.lat == 0 && loc.lng == 0 && loc.alt == 0) {
-        return false;
-    }
-    if (!loc.check_latlng()) {
-        return false;
-    }
-    // home must always be global frame at the moment as .alt is
-    // accessed directly by the vehicles and they may not be rigorous
-    // in checking the frame type.
-    Location tmp = loc;
-    if (!tmp.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
-        return false;
-    }
-
-#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
-    if (!_home_is_set) {
-        // record home is set
-        AP::logger().Write_Event(LogEvent::SET_HOME);
-    }
-#endif
-
-    _home = tmp;
-    _home_is_set = true;
-
-    Log_Write_Home_And_Origin();
-
-    // send new home and ekf origin to GCS
-    GCS_SEND_MESSAGE(MSG_HOME);
-    GCS_SEND_MESSAGE(MSG_ORIGIN);
-
-    AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
-    pd.home_lat = loc.lat;
-    pd.home_lon = loc.lng;
-    pd.home_alt_cm = loc.alt;
-
-    return true;
-}
-
 /*
   check if the AHRS subsystem is healthy
 */