From 35864c6226313b8bf594f6d0d97fd7e7826dc66b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 10 Oct 2016 15:35:08 +0900
Subject: [PATCH] Copter: move check_ekf_reset to ekf_check.cpp

No functional change
---
 ArduCopter/ArduCopter.cpp |  4 ++--
 ArduCopter/Attitude.cpp   | 12 ------------
 ArduCopter/Copter.h       |  2 +-
 ArduCopter/ekf_check.cpp  | 14 ++++++++++++++
 4 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index f210f1b9b2..32302b4260 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -264,8 +264,8 @@ void Copter::fast_loop()
     // --------------------
     read_inertia();
 
-    // check if ekf has reset target heading
-    check_ekf_yaw_reset();
+    // check if ekf has reset target heading or position
+    check_ekf_reset();
 
     // run the attitude controllers
     update_flight_mode();
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index bdcc379621..0f76a86fad 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -49,18 +49,6 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
     return stick_angle * g.acro_yaw_p;
 }
 
-// check for ekf yaw reset and adjust target heading
-void Copter::check_ekf_yaw_reset()
-{
-    float yaw_angle_change_rad = 0.0f;
-    uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
-    if (new_ekfYawReset_ms != ekfYawReset_ms) {
-        attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
-        ekfYawReset_ms = new_ekfYawReset_ms;
-        Log_Write_Event(DATA_EKF_YAW_RESET);
-    }
-}
-
 /*************************************************************
  * yaw controllers
  *************************************************************/
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 3d598fffb0..e59f1ac3b6 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -680,7 +680,7 @@ private:
     float get_smoothing_gain();
     void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
     float get_pilot_desired_yaw_rate(int16_t stick_angle);
-    void check_ekf_yaw_reset();
+    void check_ekf_reset();
     float get_roi_yaw();
     float get_look_ahead_yaw();
     void update_throttle_hover();
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index f45e3abb31..8cfa09f320 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -168,3 +168,17 @@ void Copter::failsafe_ekf_off_event(void)
     failsafe.ekf = false;
     Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_RESOLVED);
 }
+
+// check for ekf yaw reset and adjust target heading, also log position reset
+void Copter::check_ekf_reset()
+{
+    // check for yaw reset
+    float yaw_angle_change_rad = 0.0f;
+    uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
+    if (new_ekfYawReset_ms != ekfYawReset_ms) {
+        attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
+        ekfYawReset_ms = new_ekfYawReset_ms;
+        Log_Write_Event(DATA_EKF_YAW_RESET);
+    }
+
+}