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Sub: Simplify home logic #30891

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Merged
Williangalvani merged 2 commits into from
Jan 26, 2026
Merged

Sub: Simplify home logic #30891

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11149f9
Sub: simplify and fix get_alt_rel
Williangalvani Aug 12, 2025
1184c5e
Sub: simplify setting-home-from-ekf-origin logic
Williangalvani Aug 12, 2025
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13 changes: 1 addition & 12 deletions ArduSub/Sub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -428,18 +428,7 @@ float Sub::get_alt_rel() const

// get relative position
float posD;
if (ahrs.get_relative_position_D_origin_float(posD)) {
if (ahrs.home_is_set()) {
// adjust to the home position
auto home = ahrs.get_home();
posD -= static_cast<float>(home.alt) * 0.01f;
}
} else {
// fall back to the barometer reading
posD = -AP::baro().get_altitude();
}

// convert down to up
ahrs.get_relative_position_D_home(posD);
return -posD;
}

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1 change: 0 additions & 1 deletion ArduSub/Sub.h
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Expand Up @@ -445,7 +445,6 @@ class Sub : public AP_Vehicle {
void userhook_SlowLoop();
void userhook_SuperSlowLoop();
void update_home_from_EKF();
void set_home_to_current_location_inflight();
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
float get_alt_rel() const WARN_IF_UNUSED;
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25 changes: 2 additions & 23 deletions ArduSub/commands.cpp
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Expand Up @@ -7,29 +7,8 @@ void Sub::update_home_from_EKF()
if (ahrs.home_is_set()) {
return;
}

// special logic if home is set in-flight
if (motors.armed()) {
set_home_to_current_location_inflight();
} else {
// move home to current ekf location (this will set home_state to HOME_SET)
if (!set_home_to_current_location(false)) {
// ignore this failure
}
}
}

// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
void Sub::set_home_to_current_location_inflight()
{
// get current location from EKF
Location temp_loc;
Location ekf_origin;
if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
temp_loc.copy_alt_from(ekf_origin);
if (!set_home(temp_loc, false)) {
// ignore this failure
}
if (!set_home_to_current_location(false)) {
// ignore this failure
}
}

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