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What sets the home location

Posted by Bill Sanford on May 26, 2013 at 5:23pm

What causes an APM 2.5 to save the home location?  Power up when GPS locks, or arming?

I'd really like it to remember the home location when I arm it...

Thanks for the information.

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Replies

  • Developer
    Randy May 28, 2013 at 6:18am

    Basically it always overwrites the home position if it has a 3d lock when you arm.

    The reason for the slightly odd check that Soren has found is (I think) because it uses the 'do we have home set' as a check of whether we have GPS lock.  It's a bit weird but it's also an old piece of code so I won't bother making any more excuses for it.  it could be written more clearly.

  • Søren Kuula May 28, 2013 at 12:07am

    Hi,

    If I power up the APM 2.5 and let it sit until the blue LED is solid and then walk it out to the takeoff position 30 feet away, did it store home at the power up location when the GPS locked,

    Yes.

    or at the takeoff location when I arm it?

    Yes. If overwrites the previous home pos. if there was one. If there was none, it (ironicallly) does nothing.

    I wonder if this is an error, any opinions? It means that

     You can set the home location in Mission Planner.

    is only half true, because the set home pos. will be overwritten when arming. Hmmmmmmmmmm.

    Those wanting to see or themselves can go to motors.pde, arm_motors().

    Regards,

    Soren

  • Bill Sanford May 27, 2013 at 6:01am

    Folks, this can't be that tough of a question.

    If I power up the APM 2.5 and let it sit until the blue LED is solid and then walk it out to the takeoff position 30 feet away, did it store home at the power up location when the GPS locked, or at the takeoff location when I arm it?

    Thanks!

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