From 47b79eb72d791f53d6e914da0ebc51b44a564b7c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 2 May 2017 19:35:57 +1000
Subject: [PATCH] SITL: expose home location

---
 libraries/SITL/SIM_Aircraft.cpp | 4 ++++
 libraries/SITL/SITL.h           | 1 +
 2 files changed, 5 insertions(+)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index e422e97f4550f2..b7d608dc4b971f 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -330,6 +330,10 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
         smooth_sensors();
     }
     fdm.timestamp_us = time_now_us;
+    if (fdm.home.lat == 0 && fdm.home.lng == 0) {
+        // initialise home
+        fdm.home = home;
+    }
     fdm.latitude  = location.lat * 1.0e-7;
     fdm.longitude = location.lng * 1.0e-7;
     fdm.altitude  = location.alt * 1.0e-2;
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index d6e7ae73f65022..648b87ab89580e 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -9,6 +9,7 @@ namespace SITL {
 struct sitl_fdm {
     // this is the structure passed between FDM models and the main SITL code
     uint64_t timestamp_us;
+    Location home;
     double latitude, longitude; // degrees
     double altitude;  // MSL
     double heading;   // degrees