Copter: split home-set and home-locked state

ArduCopter/commands.cpp

@@ -72,15 +72,16 @@ bool Copter::set_home(const Location& loc, bool lock)
         return false;
     }
 
+    const bool home_was_set = ahrs.home_is_set();
+
     // set ahrs home (used for RTL)
     ahrs.set_home(loc);
 
     // init inav and compass declination
-    if (!ahrs.home_is_set()) {
+    if (!home_was_set) {
         // update navigation scalers.  used to offset the shrinking longitude as we go towards the poles
         scaleLongDown = longitude_scale(loc);
         // record home is set
-        ahrs.set_home_status(HOME_SET_NOT_LOCKED);
         Log_Write_Event(DATA_SET_HOME);
 
 #if MODE_AUTO_ENABLED == ENABLED
@@ -96,7 +97,7 @@ bool Copter::set_home(const Location& loc, bool lock)
 
     // lock home position
     if (lock) {
-        ahrs.set_home_status(HOME_SET_AND_LOCKED);
+        ahrs.lock_home();
     }
 
     // log ahrs home and ekf origin dataflash

ArduCopter/motors.cpp

@@ -180,7 +180,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
 
         // we have reset height, so arming height is zero
         arming_altitude_m = 0;        
-    } else if (ahrs.home_status() == HOME_SET_NOT_LOCKED) {
+    } else if (!ahrs.home_is_locked()) {
         // Reset home position if it has already been set before (but not locked)
         set_home_to_current_location(false);