Plane: move Log_Write_Home_And_Origin into AP_AHRS

ArduPlane/GCS_Mavlink.cpp

@@ -876,7 +876,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 }
                 plane.ahrs.set_home(new_home_loc);
                 AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
-                plane.Log_Write_Home_And_Origin();
+                AP::ahrs().Log_Write_Home_And_Origin();
                 gcs().send_home(new_home_loc);
                 result = MAV_RESULT_ACCEPTED;
                 gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
@@ -1162,7 +1162,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
                 plane.ahrs.set_home(new_home_loc);
                 AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
-                plane.Log_Write_Home_And_Origin();
+                AP::ahrs().Log_Write_Home_And_Origin();
                 gcs().send_home(new_home_loc);
                 result = MAV_RESULT_ACCEPTED;
                 gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
@@ -1580,7 +1580,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         new_home_loc.alt = packet.altitude / 10;
         plane.ahrs.set_home(new_home_loc);
         plane.ahrs.set_home_status(HOME_SET_NOT_LOCKED);
-        plane.Log_Write_Home_And_Origin();
+        plane.ahrs.Log_Write_Home_And_Origin();
         gcs().send_home(new_home_loc);
         gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
                                 (double)(new_home_loc.lat*1.0e-7f),

ArduPlane/Log.cpp

@@ -282,23 +282,6 @@ void Plane::Log_Write_RC(void)
     Log_Write_AETR();
 }
 
-// log ahrs home and EKF origin to dataflash
-void Plane::Log_Write_Home_And_Origin()
-{
-#if AP_AHRS_NAVEKF_AVAILABLE
-    // log ekf origin if set
-    Location ekf_orig;
-    if (ahrs.get_origin(ekf_orig)) {
-        DataFlash.Log_Write_Origin(LogOriginType::ekf_origin, ekf_orig);
-    }
-#endif
-
-    // log ahrs home if set
-    if (ahrs.home_is_set()) {
-        DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
-    }
-}
-
 // type and unit information can be found in
 // libraries/DataFlash/Logstructure.h; search for "log_Units" for
 // units and "Format characters" for field type information
@@ -344,7 +327,7 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
     Log_Write_Startup(TYPE_GROUNDSTART_MSG);
     DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
     DataFlash.Log_Write_Rally(rally);
-    Log_Write_Home_And_Origin();
+    ahrs.Log_Write_Home_And_Origin();
     gps.Write_DataFlash_Log_Startup_messages();
 }
 
@@ -373,7 +356,6 @@ void Plane::Log_Write_Optflow() {}
 
 void Plane::Log_Arm_Disarm() {}
 void Plane::Log_Write_RC(void) {}
-void Plane::Log_Write_Home_And_Origin() {}
 void Plane::Log_Write_Vehicle_Startup_Messages() {}
 
 void Plane::log_init(void) {}

ArduPlane/Plane.h

@@ -801,7 +801,6 @@ private:
     void Log_Write_Optflow();
     void Log_Arm_Disarm();
     void Log_Write_RC(void);
-    void Log_Write_Home_And_Origin();
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AOA_SSA();
     void Log_Write_AETR();

ArduPlane/commands.cpp

@@ -111,7 +111,7 @@ void Plane::init_home()
 
     ahrs.set_home(gps.location());
     ahrs.set_home_status(HOME_SET_NOT_LOCKED);
-    Log_Write_Home_And_Origin();
+    ahrs.Log_Write_Home_And_Origin();
     gcs().send_home(gps.location());
 
     // Save Home to EEPROM
@@ -142,7 +142,7 @@ void Plane::update_home()
         Location loc;
         if(ahrs.get_position(loc)) {
             ahrs.set_home(loc);
-            Log_Write_Home_And_Origin();
+            ahrs.Log_Write_Home_And_Origin();
             gcs().send_home(loc);
         }
     }
@@ -169,7 +169,7 @@ void Plane::set_ekf_origin(const Location& loc)
     }
 
     // log ahrs home and ekf origin dataflash
-    Log_Write_Home_And_Origin();
+    ahrs.Log_Write_Home_And_Origin();
 
     // send ekf origin to GCS
     gcs().send_ekf_origin(loc);

ArduPlane/commands_logic.cpp

@@ -938,7 +938,7 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
     } else {
         ahrs.set_home(cmd.content.location);
         ahrs.set_home_status(HOME_SET_NOT_LOCKED);
-        Log_Write_Home_And_Origin();
+        ahrs.Log_Write_Home_And_Origin();
         gcs().send_home(cmd.content.location);
         // send ekf origin if set
         Location ekf_origin;