From 5a869174e56045187384267007fc8cd5c128930c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 31 May 2019 21:02:12 +1000
Subject: [PATCH] Copter: use handle_landing_target() for precland

allows for jitter correction
---
 ArduCopter/GCS_Mavlink.cpp | 16 ++++++++++------
 ArduCopter/GCS_Mavlink.h   |  2 ++
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 4daa0e6b2c..4cf0898390 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -568,6 +568,16 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)
     GCS_MAVLINK::handle_command_ack(msg);
 }
 
+/*
+  handle a LANDING_TARGET command. The timestamp has been jitter corrected
+*/
+void GCS_MAVLINK_Copter::handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms)
+{
+#if PRECISION_LANDING == ENABLED
+    copter.precland.handle_msg(packet, timestamp_ms);
+#endif
+}
+
 MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
     if (is_equal(packet.param6,1.0f)) {
@@ -1281,12 +1291,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
         break;
     }
 
-#if PRECISION_LANDING == ENABLED
-    case MAVLINK_MSG_ID_LANDING_TARGET:
-        copter.precland.handle_msg(msg);
-        break;
-#endif
-
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
 #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index e404b0ddf1..48a47d26b2 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -35,6 +35,8 @@ protected:
 
     void handle_mount_message(const mavlink_message_t &msg) override;
 
+    void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) override;
+
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
     void send_nav_controller_output() const override;