From 3be1b9efa6163e702995b536fcc1addebe8d1980 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 7 Mar 2024 14:34:24 +1100
Subject: [PATCH] autotest: add set_home function

---
 Tools/autotest/vehicle_test_suite.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index d223290addb1e4..e752171665112f 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -8993,6 +8993,15 @@ def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
             self.progress("GroundSpeed OK (got=%f) (want=%f)" %
                           (m.groundspeed, want))
 
+    def set_home(self, loc):
+        '''set home to supplied loc'''
+        self.run_cmd_int(
+            mavutil.mavlink.MAV_CMD_DO_SET_HOME,
+            p5=int(loc.lat*1e7),
+            p6=int(loc.lng*1e7),
+            p7=loc.alt,
+        )
+
     def SetHome(self):
         '''Setting and fetching of home'''
         if self.is_tracker():