Copter: return success or failure of get home position

9 years ago · c8cc83505b
1 changed files with 4 additions and 1 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -1387,7 +1387,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
				@@ -1387,7 +1387,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
            break;

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

        case MAV_CMD_DO_SET_SERVO: