Blimp: move handling of DO_SET_HOME up to GCS_MAVLink base class

ArduPilot · Apr 3, 2024 · 8386864 · 8386864
1 parent d9261ba
commit 8386864
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Showing 3 changed files with 2 additions and 13 deletions.
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
@@ -310,8 +310,8 @@ class Blimp : public AP_Vehicle
     // commands.cpp
     void update_home_from_EKF();
     void set_home_to_current_location_inflight();
-    bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
+    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
     bool far_from_EKF_origin(const Location& loc);
 
     // ekf_check.cpp

diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
@@ -448,15 +448,6 @@ MAV_RESULT GCS_MAVLINK_Blimp::handle_command_do_set_roi(const Location &roi_loc)
     return MAV_RESULT_ACCEPTED;
 }
 
-bool GCS_MAVLINK_Blimp::set_home_to_current_location(bool _lock)
-{
-    return blimp.set_home_to_current_location(_lock);
-}
-bool GCS_MAVLINK_Blimp::set_home(const Location& loc, bool _lock)
-{
-    return blimp.set_home(loc, _lock);
-}
-
 MAV_RESULT GCS_MAVLINK_Blimp::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
 {
     const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;

diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h
@@ -35,8 +35,6 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK
     bool mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD packet_command) const override;
 #endif
 
-    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
     void send_nav_controller_output() const override; //TODO Apparently can't remove this or the build fails.
     uint64_t capabilities() const override;