Discard bogus home position

53611b9c · DonLakeFlyer · dd4f3e70 · 53611b9c
Commit 53611b9c authored May 25, 2017 by DonLakeFlyer
Hide whitespace changes
Inline Side-by-side

Showing with 8 additions and 4 deletions

MissionSettingsItem.cc src/MissionManager/MissionSettingsItem.cc +8 -4

No files found.
--- 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;
-        emit coordinateChanged(coordinate);
-        emit exitCoordinateChanged(coordinate);
-        _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+        // ArduPilot tends to send crap home positions at initial vehicel boot, discard them
+        if (coordinate.latitude() != 0 || coordinate.longitude() != 0) {
+            qDebug() << "Setting home position" << coordinate;
+            _plannedHomePositionCoordinate = coordinate;
+            emit coordinateChanged(coordinate);
+            emit exitCoordinateChanged(coordinate);
+            _plannedHomePositionAltitudeFact.setRawValue(coordinate.altitude());
+        }
    }
 }