Plane: return success or failure of get home position

9 years ago · 7479bc5734
1 changed files with 4 additions and 1 deletions
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@ -1305,7 +1305,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
				@@ -1305,7 +1305,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
            break;

        case MAV_CMD_GET_HOME_POSITION:
-            send_home(plane.ahrs.get_home());
+            if (plane.home_is_set != HOME_UNSET) {
+                send_home(plane.ahrs.get_home());
+                result = MAV_RESULT_ACCEPTED;
+            }
            break;

        case MAV_CMD_DO_SET_MODE: