You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
30 lines
796 B
30 lines
796 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
// run this at setup on the ground |
|
// ------------------------------- |
|
static void init_home() |
|
{ |
|
set_home_is_set(true); |
|
|
|
// copter uses 0 home altitude |
|
Location loc = gps.location(); |
|
|
|
ahrs.set_home(loc); |
|
|
|
inertial_nav.setup_home_position(); |
|
|
|
// log new home position which mission library will pull from ahrs |
|
if (g.log_bitmask & MASK_LOG_CMD) { |
|
AP_Mission::Mission_Command temp_cmd; |
|
if (mission.read_cmd_from_storage(0, temp_cmd)) { |
|
Log_Write_Cmd(temp_cmd); |
|
} |
|
} |
|
|
|
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles |
|
scaleLongDown = longitude_scale(loc); |
|
scaleLongUp = 1.0f/scaleLongDown; |
|
} |
|
|
|
|
|
|
|
|