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GCS_MAVLink: Send local ned home location to GCS

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m 2022-09-05 21:58:22 +03:00 committed by Peter Barker
parent d3f6d9eaa3
commit 652b361bc0
1 changed files with 9 additions and 1 deletions
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10
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2578,13 +2578,21 @@ void GCS_MAVLINK::send_home_position() const
const Location &home = AP::ahrs().get_home();
// get home position from origin
Vector3f home_pos_neu_cm;
if (!home.get_vector_from_origin_NEU(home_pos_neu_cm)) {
return;
}
const float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};
mavlink_msg_home_position_send(
chan,
home.lat,
home.lng,
home.alt * 10,
0.0f, 0.0f, 0.0f,
home_pos_neu_cm.x * 0.01f, // position of home on x-axis in meters
home_pos_neu_cm.y * 0.01f, // position of home on y-axis in meters
home_pos_neu_cm.z * -0.01f, // position of home on z-axis in meters in NED frame
q,
0.0f, 0.0f, 0.0f,
AP_HAL::micros64());