From 012b632d095a95c5536770f04c0be81dd2aab2c3 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 2 Oct 2015 20:53:28 +0900 Subject: [PATCH] Tracker: send home position when home is set or get-home msg received --- AntennaTracker/GCS_Mavlink.cpp | 4 ++++ AntennaTracker/system.cpp | 1 + 2 files changed, 5 insertions(+) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index 7784c94adb..a0d3a6077a 100644 --- a/AntennaTracker/GCS_Mavlink.cpp +++ b/AntennaTracker/GCS_Mavlink.cpp @@ -667,6 +667,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) } break; + case MAV_CMD_GET_HOME_POSITION: + send_home(tracker.ahrs.get_home()); + break; + case MAV_CMD_DO_SET_MODE: switch ((uint16_t)packet.param1) { case MAV_MODE_MANUAL_ARMED: diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp index 993da9eec5..06ad17832b 100644 --- a/AntennaTracker/system.cpp +++ b/AntennaTracker/system.cpp @@ -165,6 +165,7 @@ void Tracker::set_home(struct Location temp) { set_home_eeprom(temp); current_loc = temp; + GCS_MAVLINK::send_home_all(temp); } void Tracker::arm_servos()