How to set home point other than arming the vehicle?

hal · January 25, 2024, 2:22am

Is there a way to force the copter to set the home point at its current location, other than arming the vehicle? such as through the console somehow?

JulianOes · January 25, 2024, 11:07pm

In theory using the command MAV_CMD_DO_SET_HOME.

It’s handled here:

github.com

PX4/PX4-Autopilot/blob/0edebffcd62b966bbbda0829b11ac2e61632074d/src/modules/commander/Commander.cpp#L964-L1004


      
          	case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
          			if (_param_com_home_en.get()) {
          				bool use_current = cmd.param1 > 0.5f;
          
          				if (use_current) {
          					/* use current position */
          					if (_home_position.setHomePosition(true)) {
          						cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
          
          					} else {
          						cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
          					}
          
          				} else {
          					float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
          					yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
          					const double lat = cmd.param5;
          					const double lon = cmd.param6;
          					const float alt = cmd.param7;

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How to set home point other than arming the vehicle?

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