From 0aa00a4f9b1ee73e5fc14c936bed160b841b9dab Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sun, 29 Dec 2024 09:40:05 -0600
Subject: [PATCH] MissionPlanner:add DO_SET_HOME to Copter and Rover

---
 ExtLibs/Xamarin/Xamarin/Resources/mavcmd.xml | 22 ++++++++++++++++++--
 mavcmd.xml                                   | 18 ++++++++++++++++
 2 files changed, 38 insertions(+), 2 deletions(-)

diff --git a/ExtLibs/Xamarin/Xamarin/Resources/mavcmd.xml b/ExtLibs/Xamarin/Xamarin/Resources/mavcmd.xml
index 7a59b29b49..d2b9db9e45 100644
--- a/ExtLibs/Xamarin/Xamarin/Resources/mavcmd.xml
+++ b/ExtLibs/Xamarin/Xamarin/Resources/mavcmd.xml
@@ -210,6 +210,15 @@
       <Y></Y>
       <Z></Z>
     </DO_SET_CAM_TRIGG_DIST>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </DO_SET_HOME>
     <DO_SET_RELAY>
       <P1>Relay No</P1>
       <P2>off(0)/on(1)</P2>
@@ -685,7 +694,16 @@
       <Y></Y>
       <Z></Z>
     </DO_GRIPPER>
-    <DO_SET_ROI>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </DO_SET_HOME>
+     <DO_SET_ROI>
       <P1></P1>
       <P2></P2>
       <P3></P3>
@@ -821,4 +839,4 @@
       <Z></Z>
     </DO_MOUNT_CONTROL>
   </APRover>
-</CMD>
\ No newline at end of file
+</CMD>
diff --git a/mavcmd.xml b/mavcmd.xml
index 946d9a50ab..bcc18adbe4 100644
--- a/mavcmd.xml
+++ b/mavcmd.xml
@@ -345,6 +345,15 @@
       <Y></Y>
       <Z></Z>
     </DO_SET_CAM_TRIGG_DIST>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </DO_SET_HOME>
     <DO_SET_RELAY>
       <P1>Relay No</P1>
       <P2>off(0)/on(1)</P2>
@@ -1206,6 +1215,15 @@
       <Y></Y>
       <Z></Z>
     </DO_SET_REVERSE>
+    <DO_SET_HOME>
+      <P1>Current(1)/Spec(0)</P1>
+      <P2></P2>
+      <P3></P3>
+      <P4></P4>
+      <X>Lat</X>
+      <Y>Long</Y>
+      <Z>Alt</Z>
+    </DO_SET_HOME>
     <DO_SET_ROI>
       <P1></P1>
       <P2></P2>