bool AP_AHRS_DCM::set_home(const Location &loc)
{
// 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;
}
_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;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc)
{
if (!roi_loc.check_latlng()) {
return MAV_RESULT_FAILED;
}
copter.flightmode->auto_yaw.set_roi(roi_loc);
return MAV_RESULT_ACCEPTED;
}