From ad600fff68b1d89f855771bfb85ecf9b7b96127d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 18 May 2018 12:59:27 +1000
Subject: [PATCH] Plane: split home-set and home-locked state

---
 ArduPlane/GCS_Mavlink.cpp    | 3 ---
 ArduPlane/commands.cpp       | 3 +--
 ArduPlane/commands_logic.cpp | 1 -
 3 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 1ec5448631..88c7f6cd48 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -810,7 +810,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                     new_home_loc.alt += plane.ahrs.get_home().alt;
                 }
                 plane.ahrs.set_home(new_home_loc);
-                AP::ahrs().set_home_status(HOME_SET_NOT_LOCKED);
                 AP::ahrs().Log_Write_Home_And_Origin();
                 gcs().send_home();
                 result = MAV_RESULT_ACCEPTED;
@@ -1096,7 +1095,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
                 new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
                 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);
                 AP::ahrs().Log_Write_Home_And_Origin();
                 gcs().send_home();
                 result = MAV_RESULT_ACCEPTED;
@@ -1514,7 +1512,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         new_home_loc.lng = packet.longitude;
         new_home_loc.alt = packet.altitude / 10;
         plane.ahrs.set_home(new_home_loc);
-        plane.ahrs.set_home_status(HOME_SET_NOT_LOCKED);
         plane.ahrs.Log_Write_Home_And_Origin();
         gcs().send_home();
         gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index 3b04e37f99..da8991badb 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -110,7 +110,6 @@ void Plane::init_home()
     gcs().send_text(MAV_SEVERITY_INFO, "Init HOME");
 
     ahrs.set_home(gps.location());
-    ahrs.set_home_status(HOME_SET_NOT_LOCKED);
     ahrs.Log_Write_Home_And_Origin();
     gcs().send_home();
 
@@ -138,7 +137,7 @@ void Plane::update_home()
         // significantly
         return;
     }
-    if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
+    if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
         Location loc;
         if(ahrs.get_position(loc)) {
             ahrs.set_home(loc);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 2553182332..0e5c479a46 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -937,7 +937,6 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
         init_home();
     } else {
         ahrs.set_home(cmd.content.location);
-        ahrs.set_home_status(HOME_SET_NOT_LOCKED);
         ahrs.Log_Write_Home_And_Origin();
         gcs().send_home();
         gcs().send_ekf_origin();