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GCS_MAVLink: add send_ekf_origin

This commit is contained in:
Randy Mackay 2017-09-18 10:35:12 +09:00
parent 962f237db4
commit 07c195a865
3 changed files with 18 additions and 0 deletions
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5
libraries/GCS_MAVLink/GCS.cpp
View File

@ -34,4 +34,9 @@ void GCS::send_home(const Location &home) const
FOR_EACH_ACTIVE_CHANNEL(send_home(home));
}
void GCS::send_ekf_origin(const Location &ekf_origin) const
{
FOR_EACH_ACTIVE_CHANNEL(send_ekf_origin(ekf_origin));
}
#undef FOR_EACH_ACTIVE_CHANNEL

2
libraries/GCS_MAVLink/GCS.h
View File

@ -176,6 +176,7 @@ public:
void send_local_position(const AP_AHRS &ahrs) const;
void send_vibration(const AP_InertialSensor &ins) const;
void send_home(const Location &home) const;
void send_ekf_origin(const Location &ekf_origin) const;
void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
void send_servo_output_raw(bool hil);
static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
@ -476,6 +477,7 @@ public:
void send_message(enum ap_message id);
void send_mission_item_reached_message(uint16_t mission_index);
void send_home(const Location &home) const;
void send_ekf_origin(const Location &ekf_origin) const;
// push send_message() messages and queued statustext messages etc:
void retry_deferred();
void data_stream_send();

11
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1480,6 +1480,17 @@ void GCS_MAVLINK::send_home(const Location &home) const
}
}
void GCS_MAVLINK::send_ekf_origin(const Location &ekf_origin) const
{
if (HAVE_PAYLOAD_SPACE(chan, GPS_GLOBAL_ORIGIN)) {
mavlink_msg_gps_global_origin_send(
chan,
ekf_origin.lat,
ekf_origin.lng,
ekf_origin.alt * 10);
}
}
/*
wrapper for sending heartbeat
*/