Copter: move home state into AP_AHRS

ArduCopter/AP_Arming.cpp

@@ -702,11 +702,6 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     return AP_Arming::arm_checks(arming_from_gcs);
 }
 
-enum HomeState AP_Arming_Copter::home_status() const
-{
-    return copter.ap.home_state;
-}
-
 void AP_Arming_Copter::set_pre_arm_check(bool b)
 {
     copter.ap.pre_arm_check = b;

ArduCopter/AP_Arming.h

@@ -47,8 +47,6 @@ protected:
 
     void set_pre_arm_check(bool b);
 
-    enum HomeState home_status() const override;
-
 private:
 
     const AP_InertialNav_NavEKF &_inav;

ArduCopter/AP_State.cpp

@@ -1,27 +1,5 @@
 #include "Copter.h"
 
-// set_home_state - update home state
-void Copter::set_home_state(enum HomeState new_home_state)
-{
-    // if no change, exit immediately
-    if (ap.home_state == new_home_state)
-        return;
-
-    // update state
-    ap.home_state = new_home_state;
-
-    // log if home has been set
-    if (new_home_state == HOME_SET_NOT_LOCKED || new_home_state == HOME_SET_AND_LOCKED) {
-        Log_Write_Event(DATA_SET_HOME);
-    }
-}
-
-// home_is_set - returns true if home positions has been set (to GPS location, armed location or EKF origin)
-bool Copter::home_is_set()
-{
-    return (ap.home_state == HOME_SET_NOT_LOCKED || ap.home_state == HOME_SET_AND_LOCKED);
-}
-
 // ---------------------------------------------
 void Copter::set_auto_armed(bool b)
 {

ArduCopter/Copter.h

@@ -315,7 +315,6 @@ private:
             uint8_t throttle_zero           : 1; // 15      // true if the throttle stick is at zero, debounced, determines if pilot intends shut-down when not using motor interlock
             uint8_t system_time_set         : 1; // 16      // true if the system time has been set from the GPS
             uint8_t gps_glitching           : 1; // 17      // true if the gps is glitching
-            enum HomeState home_state       : 2; // 18,19   // home status (unset, set, locked)
             uint8_t using_interlock         : 1; // 20      // aux switch motor interlock function is in use
             uint8_t motor_emergency_stop    : 1; // 21      // motor estop switch, shuts off motors when enabled
             uint8_t land_repo_active        : 1; // 22      // true if the pilot is overriding the landing position
@@ -630,8 +629,6 @@ private:
     static const struct LogStructure log_structure[];
 
     // AP_State.cpp
-    void set_home_state(enum HomeState new_home_state);
-    bool home_is_set();
     void set_auto_armed(bool b);
     void set_simple_mode(uint8_t b);
     void set_failsafe_radio(bool b);

ArduCopter/GCS_Mavlink.cpp

@@ -860,7 +860,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
                 new_home_loc.alt = packet.z * 100;
                 // handle relative altitude
                 if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
-                    if (copter.ap.home_state == HOME_UNSET) {
+                    if (!AP::ahrs().home_is_set()) {
                         // cannot use relative altitude if home is not set
                         break;
                     }
@@ -1126,7 +1126,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_GET_HOME_POSITION:
-            if (copter.ap.home_state != HOME_UNSET) {
+            if (AP::ahrs().home_is_set()) {
                 send_home(copter.ahrs.get_home());
                 Location ekf_origin;
                 if (copter.ahrs.get_origin(ekf_origin)) {

ArduCopter/Log.cpp

@@ -378,7 +378,7 @@ void Copter::Log_Write_Home_And_Origin()
     }
 
     // log ahrs home if set
-    if (ap.home_state != HOME_UNSET) {
+    if (ahrs.home_is_set()) {
         DataFlash.Log_Write_Origin(LogOriginType::ahrs_home, ahrs.get_home());
     }
 }

ArduCopter/commands.cpp

@@ -1,17 +1,10 @@
 #include "Copter.h"
 
-/*
- * the home_state has a number of possible values (see enum HomeState in defines.h's)
- *   HOME_UNSET             = home is not set, no GPS positions yet received
- *   HOME_SET_NOT_LOCKED    = home is set to EKF origin or armed location (can be moved)
- *   HOME_SET_AND_LOCKED    = home has been set by user, cannot be moved except by user initiated do-set-home command
- */
-
 // checks if we should update ahrs/RTL home position from the EKF
 void Copter::update_home_from_EKF()
 {
     // exit immediately if home already set
-    if (ap.home_state != HOME_UNSET) {
+    if (ahrs.home_is_set()) {
         return;
     }
 
@@ -83,11 +76,12 @@ bool Copter::set_home(const Location& loc, bool lock)
     ahrs.set_home(loc);
 
     // init inav and compass declination
-    if (ap.home_state == HOME_UNSET) {
+    if (!ahrs.home_is_set()) {
         // update navigation scalers.  used to offset the shrinking longitude as we go towards the poles
         scaleLongDown = longitude_scale(loc);
         // record home is set
-        set_home_state(HOME_SET_NOT_LOCKED);
+        ahrs.set_home_status(HOME_SET_NOT_LOCKED);
+        Log_Write_Event(DATA_SET_HOME);
 
 #if MODE_AUTO_ENABLED == ENABLED
         // log new home position which mission library will pull from ahrs
@@ -102,7 +96,7 @@ bool Copter::set_home(const Location& loc, bool lock)
 
     // lock home position
     if (lock) {
-        set_home_state(HOME_SET_AND_LOCKED);
+        ahrs.set_home_status(HOME_SET_AND_LOCKED);
     }
 
     // log ahrs home and ekf origin dataflash

ArduCopter/inertia.cpp

@@ -16,7 +16,7 @@ void Copter::read_inertia()
     }
 
     // without home return alt above the EKF origin
-    if (ap.home_state == HOME_UNSET) {
+    if (!ahrs.home_is_set()) {
         // with inertial nav we can update the altitude and climb rate at 50hz
         current_loc.alt = inertial_nav.get_altitude();
     } else {

ArduCopter/motors.cpp

@@ -176,14 +176,14 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
 
     initial_armed_bearing = ahrs.yaw_sensor;
 
-    if (ap.home_state == HOME_UNSET) {
+    if (!ahrs.home_is_set()) {
         // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
         ahrs.resetHeightDatum();
         Log_Write_Event(DATA_EKF_ALT_RESET);
 
         // we have reset height, so arming height is zero
         arming_altitude_m = 0;        
-    } else if (ap.home_state == HOME_SET_NOT_LOCKED) {
+    } else if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
         // Reset home position if it has already been set before (but not locked)
         set_home_to_current_location(false);