Merge pull request #5200 from DonLakeFlyer/HomePosFix

Discard bogus home position

Merge pull request #5200 from DonLakeFlyer/HomePosFix
Discard bogus home position
28dc908f · Don Gagne · GitHub · 9d10e900 · 53611b9c · 28dc908f
Commit 28dc908f authored May 25, 2017 by Don Gagne Committed by GitHub May 25, 2017
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MissionSettingsItem.cc src/MissionManager/MissionSettingsItem.cc +8 -4

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--- a/src/MissionManager/MissionSettingsItem.cc
+++ b/src/MissionManager/MissionSettingsItem.cc
@@ -220,10 +220,14 @@ void MissionSettingsItem::_setDirty(void)
 void MissionSettingsItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
    if (_plannedHomePositionCoordinate != coordinate) {
-        _plannedHomePositionCoordinate = coordinate;
+        // ArduPilot tends to send crap home positions at initial vehicel boot, discard them
-        emit coordinateChanged(coordinate);
+        if (coordinate.latitude() != 0 || coordinate.longitude() != 0) {
-        emit exitCoordinateChanged(coordinate);
+            qDebug() << "Setting home position" << coordinate;
-        _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+            _plannedHomePositionCoordinate = coordinate;
+            emit coordinateChanged(coordinate);
+            emit exitCoordinateChanged(coordinate);
+            _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+        }
    }
 }