ArduPilot · tridge · Apr 8, 2024 · Apr 3, 2024 · Apr 3, 2024 · Apr 3, 2024
diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
@@ -451,13 +451,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_int_packet(const mavlink_command_
     }
 }
 
-bool GCS_MAVLINK_Tracker::set_home_to_current_location(bool _lock) {
-    return tracker.set_home(AP::gps().location());
-}
-bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool _lock) {
-    return tracker.set_home(loc);
-}
-
 void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
@@ -584,7 +577,7 @@ void GCS_MAVLINK_Tracker::handle_message_mission_item(const mavlink_message_t &m
 
         // check if this is the HOME wp
         if (packet.seq == 0) {
-            if (!tracker.set_home(tell_command)) {
+            if (!tracker.set_home(tell_command, false)) {
                 result = MAV_MISSION_ERROR;
                 goto mission_failed;
             }

diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
@@ -27,9 +27,6 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
         return 0; // what if we have been picked up and carried somewhere?
     }
 
-    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;
     void send_pid_tuning() override;
 

diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
@@ -92,7 +92,7 @@ void Tracker::one_second_loop()
         // set home to current location
         Location temp_loc;
         if (ahrs.get_location(temp_loc)) {
-            if (!set_home(temp_loc)){
+            if (!set_home(temp_loc, false)) {
                 // fail silently
             }
         }

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -197,7 +197,8 @@ class Tracker : public AP_Vehicle {
     void init_ardupilot() override;
     bool get_home_eeprom(Location &loc) const;
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
-    bool set_home(const Location &temp) WARN_IF_UNUSED;
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
+    bool set_home(const Location &temp, bool lock) override WARN_IF_UNUSED;
     void prepare_servos();
     void set_mode(Mode &newmode, ModeReason reason);
     bool set_mode(uint8_t new_mode, ModeReason reason) override;

diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
@@ -51,7 +51,7 @@ void Tracker::update_GPS(void)
                 // Now have an initial GPS position
                 // use it as the HOME position in future startups
                 current_loc = gps.location();
-                IGNORE_RETURN(set_home(current_loc));
+                IGNORE_RETURN(set_home(current_loc, false));
                 ground_start_count = 0;
             }
         }

diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
@@ -116,7 +116,12 @@ bool Tracker::set_home_eeprom(const Location &temp)
     return true;
 }
 
-bool Tracker::set_home(const Location &temp)
+bool Tracker::set_home_to_current_location(bool lock)
+{
+    return set_home(AP::gps().location(), lock);
+}
+
+bool Tracker::set_home(const Location &temp, bool lock)
 {
     // check EKF origin has been set
     Location ekf_origin;

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -739,8 +739,8 @@ class Copter : 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);
 
     // compassmot.cpp

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -711,13 +711,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_int
     return GCS_MAVLINK::handle_preflight_reboot(packet, msg);
 }
 
-bool GCS_MAVLINK_Copter::set_home_to_current_location(bool _lock) {
-    return copter.set_home_to_current_location(_lock);
-}
-bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool _lock) {
-    return copter.set_home(loc, _lock);
-}
-
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
 {
 #if MODE_GUIDED_ENABLED == ENABLED

diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
@@ -48,8 +48,6 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
 
     void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
 
-    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;
     uint64_t capabilities() const override;
 

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -781,39 +781,39 @@ void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
 }
 
 
-bool GCS_MAVLINK_Plane::set_home_to_current_location(bool _lock)
+bool Plane::set_home_to_current_location(bool _lock)
 {
-    if (!plane.set_home_persistently(AP::gps().location())) {
+    if (!set_home_persistently(AP::gps().location())) {
         return false;
     }
     if (_lock) {
         AP::ahrs().lock_home();
     }
-    if ((plane.control_mode == &plane.mode_rtl)
+    if ((control_mode == &mode_rtl)
 #if HAL_QUADPLANE_ENABLED
-            || (plane.control_mode == &plane.mode_qrtl)
+            || (control_mode == &mode_qrtl)
 #endif
                                                         ) {
         // if in RTL head to the updated home location
-        plane.control_mode->enter();
+        control_mode->enter();
     }
     return true;
 }
-bool GCS_MAVLINK_Plane::set_home(const Location& loc, bool _lock)
+bool Plane::set_home(const Location& loc, bool _lock)
 {
     if (!AP::ahrs().set_home(loc)) {
         return false;
     }
     if (_lock) {
         AP::ahrs().lock_home();
     }
-    if ((plane.control_mode == &plane.mode_rtl)
+    if ((control_mode == &mode_rtl)
 #if HAL_QUADPLANE_ENABLED
-            || (plane.control_mode == &plane.mode_qrtl)
+            || (control_mode == &mode_qrtl)
 #endif
                                                         ) {
         // if in RTL head to the updated home location
-        plane.control_mode->enter();
+        control_mode->enter();
     }
     return true;
 }

diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
@@ -42,8 +42,6 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
 
     bool persist_streamrates() const override { return true; }
 
-    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
-    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
     uint64_t capabilities() const override;
 
     void send_nav_controller_output() const override;

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -986,6 +986,8 @@ class Plane : public AP_Vehicle {
 
     // set home location and store it persistently:
     bool set_home_persistently(const Location &loc) 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;
 
     // control_modes.cpp
     void read_control_switch();

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -475,13 +475,6 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_command_do_set_roi(const Location &roi_loc)
     return MAV_RESULT_ACCEPTED;
 }
 
-bool GCS_MAVLINK_Sub::set_home_to_current_location(bool _lock) {
-    return sub.set_home_to_current_location(_lock);
-}
-bool GCS_MAVLINK_Sub::set_home(const Location& loc, bool _lock) {
-    return sub.set_home(loc, _lock);
-}
-
 MAV_RESULT GCS_MAVLINK_Sub::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     switch(packet.command) {

diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
@@ -29,9 +29,6 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
     int32_t global_position_int_alt() const override;
     int32_t global_position_int_relative_alt() const override;
 
-    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_banner() override;
 
     void send_nav_controller_output() const override;

diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
@@ -423,8 +423,8 @@ class Sub : public AP_Vehicle {
     void userhook_SuperSlowLoop();
     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);
     void exit_mission();
     bool verify_loiter_unlimited();

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;
 

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
@@ -656,14 +656,6 @@ MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlin
     return GCS_MAVLINK::_handle_command_preflight_calibration(packet, msg);
 }
 
-bool GCS_MAVLINK_Rover::set_home_to_current_location(bool _lock) {
-    return rover.set_home_to_current_location(_lock);
-}
-
-bool GCS_MAVLINK_Rover::set_home(const Location& loc, bool _lock) {
-    return rover.set_home(loc, _lock);
-}
-
 MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     switch (packet.command) {

diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
@@ -31,8 +31,6 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
 
     bool persist_streamrates() const override { return true; }
 
-    bool set_home_to_current_location(bool lock) override;
-    bool set_home(const Location& loc, bool lock) override;
     uint64_t capabilities() const override;
 
     void send_nav_controller_output() const override;

diff --git a/Rover/Rover.h b/Rover/Rover.h
@@ -295,8 +295,8 @@ class Rover : public AP_Vehicle {
     bool is_balancebot() const;
 
     // commands.cpp
-    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;
     void update_home();
 
     // crash_check.cpp

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -289,6 +289,11 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
      */
     virtual bool get_rate_ef_targets(Vector3f& rate_ef_targets) const { return false; }
 
+#if AP_AHRS_ENABLED
+    virtual bool set_home_to_current_location(bool lock) WARN_IF_UNUSED { return false; }
+    virtual bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED { return false; }
+#endif
+
 protected:
 
     virtual void init_ardupilot() = 0;

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
@@ -526,8 +526,8 @@ class GCS_MAVLINK
     virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
 
-    virtual bool set_home_to_current_location(bool lock) = 0;
-    virtual bool set_home(const Location& loc, bool lock) = 0;
+    bool set_home_to_current_location(bool lock);
+    bool set_home(const Location& loc, bool lock);
 
 #if AP_ARMING_ENABLED
     virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5057,6 +5057,23 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
 }
 
 
+bool GCS_MAVLINK::set_home_to_current_location(bool _lock)
+{
+#if AP_VEHICLE_ENABLED
+    return AP::vehicle()->set_home_to_current_location(_lock);
+#else
+    return false;
+#endif
+}
+
+bool GCS_MAVLINK::set_home(const Location& loc, bool _lock) {
+#if AP_VEHICLE_ENABLED
+    return AP::vehicle()->set_home(loc, _lock);
+#else
+    return false;
+#endif
+}
+
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
 {
     if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {

diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -33,9 +33,6 @@ class GCS_MAVLINK_Dummy : public GCS_MAVLINK
     MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
     MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }
 
-    bool set_home_to_current_location(bool _lock) override { return false; }
-    bool set_home(const Location& loc, bool _lock) override { return false; }
-
     void send_nav_controller_output() const override {};
     void send_pid_tuning() override {};
 };