Commander: Remove duplicate code for setting home position

1 files changed, 64 insertions, 62 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index bae1ed2e4..57f94259c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -241,6 +241,12 @@ transition_result_t check_navigation_state_machine(struct vehicle_status_s *stat
 transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
 
 /**
+* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
+*		 time the vehicle is armed with a good GPS fix.
+**/
+static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition);
+
+/**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
  */
 void *commander_low_prio_loop(void *arg);
@@ -716,6 +722,52 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 	return true;
 }
 
+/**
+* @brief This function initializes the home position of the vehicle. This happens first time we get a good GPS fix and each
+*		 time the vehicle is armed with a good GPS fix.
+**/
+static void commander_set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition, const vehicle_global_position_s &globalPosition)
+{
+	//Need global position fix to be able to set home
+	if(!status.condition_global_position_valid) {
+		return;
+	}
+
+	//Ensure that the GPS accuracy is good enough for intializing home
+	if(globalPosition.eph > eph_threshold || globalPosition.epv > epv_threshold) {
+		return;
+	}
+
+	//Set home position
+	home.timestamp = hrt_absolute_time();
+	home.lat = globalPosition.lat;
+	home.lon = globalPosition.lon;
+	home.alt = globalPosition.alt;
+
+	home.x = localPosition.x;
+	home.y = localPosition.y;
+	home.z = localPosition.z;
+
+	warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
+	mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
+
+	/* announce new home position */
+	if (homePub > 0) {
+		orb_publish(ORB_ID(home_position), homePub, &home);
+
+	} else {
+		homePub = orb_advertise(ORB_ID(home_position), &home);
+	}
+
+	//Play tune first time we initialize HOME
+	if(!status.condition_home_position_valid) {
+		tune_positive(true);
+	}
+
+	/* mark home position as set */
+	status.condition_home_position_valid = true;
+}
+
 int commander_thread_main(int argc, char *argv[])
 {
 	/* not yet initialized */
@@ -904,7 +956,6 @@ int commander_thread_main(int argc, char *argv[])
 	bool critical_battery_voltage_actions_done = false;
 
 	hrt_abstime last_idle_time = 0;
-	hrt_abstime start_time = 0;
 
 	bool status_changed = true;
 	bool param_init_forced = true;
@@ -1035,7 +1086,7 @@ int commander_thread_main(int argc, char *argv[])
 	commander_initialized = true;
 	thread_running = true;
 
-	start_time = hrt_absolute_time();
+	const hrt_abstime commander_boot_timestamp = hrt_absolute_time();
 
 	transition_result_t arming_ret;
 
@@ -1325,34 +1376,6 @@ int commander_thread_main(int argc, char *argv[])
 		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid),
 			    &status_changed);
 
-		/* update home position */
-		if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
-		    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
-
-			home.lat = global_position.lat;
-			home.lon = global_position.lon;
-			home.alt = global_position.alt;
-
-			home.x = local_position.x;
-			home.y = local_position.y;
-			home.z = local_position.z;
-
-			warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
-			mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
-
-			/* announce new home position */
-			if (home_pub > 0) {
-				orb_publish(ORB_ID(home_position), home_pub, &home);
-
-			} else {
-				home_pub = orb_advertise(ORB_ID(home_position), &home);
-			}
-
-			/* mark home position as set */
-			status.condition_home_position_valid = true;
-			tune_positive(true);
-		}
-
 		/* update condition_local_position_valid and condition_local_altitude_valid */
 		/* hysteresis for EPH */
 		bool local_eph_good;
@@ -1401,7 +1424,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
-			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+			if (hrt_absolute_time() > commander_boot_timestamp + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;
@@ -1859,44 +1882,23 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-
 		//Get current timestamp
 		const hrt_abstime now = hrt_absolute_time();
 
+		//First time home position update
+		if(!status.condition_home_position_valid) {
+			commander_set_home_position(home_pub, home, local_position, global_position);				
+		}
+
+		/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
+		else if(arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) {
+			commander_set_home_position(home_pub, home, local_position, global_position);				
+		}
+
 		/* print new state */
 		if (arming_state_changed) {
 			status_changed = true;
 			mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
-
-			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
-			if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
-			    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
-
-				// TODO remove code duplication (setting home is also done somewhere else in this file)
-				home.timestamp = now;
-				home.lat = global_position.lat;
-				home.lon = global_position.lon;
-				home.alt = global_position.alt;
-
-				home.x = local_position.x;
-				home.y = local_position.y;
-				home.z = local_position.z;
-
-				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
-				mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
-
-				/* announce new home position */
-				if (home_pub > 0) {
-					orb_publish(ORB_ID(home_position), home_pub, &home);
-
-				} else {
-					home_pub = orb_advertise(ORB_ID(home_position), &home);
-				}
-
-				/* mark home position as set */
-				status.condition_home_position_valid = true;
-			}
-
 			arming_state_changed = false;
 		}