From ab9c084179dbb510831b13241dbd9e8aea166797 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 13 Feb 2019 13:46:36 +1100
Subject: [PATCH] AP_AHRS: add sanity checks for home location being set

---
 libraries/AP_AHRS/AP_AHRS_DCM.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 27ee51d6ef..b5d88570d2 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1033,6 +1033,14 @@ bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret) const
 
 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 (!check_latlng(loc)) {
+        return false;
+    }
+
     _home = loc;
     _home_is_set = true;