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Copter: 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 17:56:31 +09:00
parent 9b96a2c385
commit 330961b524
2 changed files with 7 additions and 0 deletions
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4
ArduCopter/GCS_Mavlink.cpp
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@ -1386,6 +1386,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
break; break;
case MAV_CMD_GET_HOME_POSITION:
send_home(copter.ahrs.get_home());
break;
case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_SERVO:
if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) { if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;

3
ArduCopter/commands.cpp
View File

@ -104,6 +104,9 @@ bool Copter::set_home(const Location& loc)
// log ahrs home and ekf origin dataflash // log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin(); Log_Write_Home_And_Origin();
// send new home location to GCS
GCS_MAVLINK::send_home_all(loc);
// return success // return success
return true; return true;
} }