Make GCS_MAVLink base class handle DO_SET_HOME #26683
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I've tested this in SITL with Plane, everything works as expected. |
tridge
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Apr 8, 2024
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This takes advantage of all our vehicles inheriting from AP_Vehicle, which they didn't when the pure-virtual methods on GCS_MAVLink were first created.
I'm not sure this is the correct shape for handling home generally, but given all but one of our vehicles had the relevant methods already on the vehicle class it seems a reasonable improvement.
There's the basic question of whether home is an AHRS thing or an AP_Vehicle thing. While AHRS has been a good place for home, notionally you don't need AHRS to have a home (Tracker kinda-sorta shows that....)
A first step in further unifying home-position behaviour across vehicle types, anyway.