Plane: make setting of home boolean in preparation for sanity checks

ArduPlane/ArduPlane.cpp

@@ -382,7 +382,9 @@ void Plane::update_GPS_10Hz(void)
                 ground_start_count = 5;
 
             } else {
-                set_home_persistently(gps.location());
+                if (!set_home_persistently(gps.location())) {
+                    // silently ignore failure...
+                }
 
                 next_WP_loc = prev_WP_loc = home;
 

ArduPlane/GCS_Mavlink.cpp

@@ -748,7 +748,9 @@ void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
 
 bool GCS_MAVLINK_Plane::set_home_to_current_location(bool lock)
 {
-    plane.set_home_persistently(AP::gps().location());
+    if (!plane.set_home_persistently(AP::gps().location())) {
+        return false;
+    }
     if (lock) {
         AP::ahrs().lock_home();
     }
@@ -756,7 +758,9 @@ bool GCS_MAVLINK_Plane::set_home_to_current_location(bool lock)
 }
 bool GCS_MAVLINK_Plane::set_home(const Location& loc, bool lock)
 {
-    AP::ahrs().set_home(loc);
+    if (!AP::ahrs().set_home(loc)) {
+        return false;
+    }
     if (lock) {
         AP::ahrs().lock_home();
     }
@@ -968,7 +972,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         // param6 : longitude
         // param7 : altitude (absolute)
         if (is_equal(packet.param1,1.0f)) {
-            plane.set_home_persistently(AP::gps().location());
+            if (!plane.set_home_persistently(AP::gps().location())) {
+                return MAV_RESULT_FAILED;
+            }
             AP::ahrs().lock_home();
             return MAV_RESULT_ACCEPTED;
         } else {
@@ -988,7 +994,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
             new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
             new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
             new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
-            set_home(new_home_loc, true);
+            if (!set_home(new_home_loc, true)) {
+                return MAV_RESULT_FAILED;
+            }
             return MAV_RESULT_ACCEPTED;
         }
         break;
@@ -1298,7 +1306,10 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         new_home_loc.lat = packet.latitude;
         new_home_loc.lng = packet.longitude;
         new_home_loc.alt = packet.altitude / 10;
-        set_home(new_home_loc, false);
+        if (!set_home(new_home_loc, false)) {
+            // silently fails...
+            break;
+        }
         break;
     }
 

ArduPlane/GCS_Mavlink.h

@@ -37,8 +37,8 @@ protected:
 
     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;
+    bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
+    bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
 
 private:
 

ArduPlane/Plane.h

@@ -854,7 +854,7 @@ private:
     void set_guided_WP(void);
     void update_home();
     // set home location and store it persistently:
-    void set_home_persistently(const Location &loc);
+    bool set_home_persistently(const Location &loc) WARN_IF_UNUSED;
     void do_RTL(int32_t alt);
     bool verify_takeoff();
     bool verify_loiter_unlim(const AP_Mission::Mission_Command &cmd);

ArduPlane/commands.cpp

@@ -120,17 +120,23 @@ void Plane::update_home()
     if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
         Location loc;
         if(ahrs.get_position(loc)) {
-            AP::ahrs().set_home(loc);
+            if (!AP::ahrs().set_home(loc)) {
+                // silently fail
+            }
         }
     }
     barometer.update_calibration();
     ahrs.resetHeightDatum();
 }
 
-void Plane::set_home_persistently(const Location &loc)
+bool Plane::set_home_persistently(const Location &loc)
 {
-    AP::ahrs().set_home(loc);
+    if (!AP::ahrs().set_home(loc)) {
+        return false;
+    }
 
     // Save Home to EEPROM
     mission.write_home_to_storage();
+
+    return true;
 }

ArduPlane/commands_logic.cpp

@@ -901,10 +901,13 @@ void Plane::do_change_speed(const AP_Mission::Mission_Command& cmd)
 void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
 {
     if (cmd.p1 == 1 && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
-        set_home_persistently(gps.location());
+        if (!set_home_persistently(gps.location())) {
+            // silently ignore error
+        }
     } else {
-        AP::ahrs().set_home(cmd.content.location);
-        gcs().send_ekf_origin();
+        if (AP::ahrs().set_home(cmd.content.location)) {
+            gcs().send_ekf_origin();
+        }
     }
 }