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Tracker: send home position when home is set or get-home msg received

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This commit is contained in:
Randy Mackay 2015-10-02 20:53:28 +09:00
parent 17ed125e41
commit 012b632d09
2 changed files with 5 additions and 0 deletions
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4
AntennaTracker/GCS_Mavlink.cpp
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@ -667,6 +667,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
break; break;
case MAV_CMD_GET_HOME_POSITION:
send_home(tracker.ahrs.get_home());
break;
case MAV_CMD_DO_SET_MODE: case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) { switch ((uint16_t)packet.param1) {
case MAV_MODE_MANUAL_ARMED: case MAV_MODE_MANUAL_ARMED:

1
AntennaTracker/system.cpp
View File

@ -165,6 +165,7 @@ void Tracker::set_home(struct Location temp)
{ {
set_home_eeprom(temp); set_home_eeprom(temp);
current_loc = temp; current_loc = temp;
GCS_MAVLINK::send_home_all(temp);
} }
void Tracker::arm_servos() void Tracker::arm_servos()