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Tracker: add support for mavlink set-home-position

This commit is contained in:
Peter Barker 2019-02-21 14:02:29 +11:00 committed by Peter Barker
parent 9f6027b332
commit fe6ca9afa3
2 changed files with 9 additions and 2 deletions
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7
AntennaTracker/GCS_Mavlink.cpp
View File

@ -369,6 +369,13 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command
} }
} }
bool GCS_MAVLINK_Tracker::set_home_to_current_location(bool lock) {
return tracker.set_home(AP::gps().location());
}
bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool lock) {
return tracker.set_home(loc);
}
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg) void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
{ {
switch (msg->msgid) { switch (msg->msgid) {

4
AntennaTracker/GCS_Mavlink.h
View File

@ -28,8 +28,8 @@ protected:
return 0; // what if we have been picked up and carried somewhere? return 0; // what if we have been picked up and carried somewhere?
} }
bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED { return false; } bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;
bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED { return false; } bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
uint64_t capabilities() const override; uint64_t capabilities() const override;
void send_nav_controller_output() const override; void send_nav_controller_output() const override;