From 13719ec22f4530e57e6bde088c58adfd263c550a Mon Sep 17 00:00:00 2001
From: dave <david.st-onge@polymtl.ca>
Date: Wed, 26 Sep 2018 23:01:40 -0400
Subject: [PATCH] add lat/long to takeoff/land cmds

---
 src/roscontroller.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 2e24ce3..23fc145 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -743,6 +743,8 @@ script
   {
     case NAV_TAKEOFF:
       goto_pos = buzzuav_closures::getgoto();
+      cmd_srv.request.param5 = cur_pos.latitude;
+      cmd_srv.request.param6 = cur_pos.longitude;
       cmd_srv.request.param7 = goto_pos[2];
       cmd_srv.request.command = buzzuav_closures::getcmd();
       if (!armstate)
@@ -766,6 +768,9 @@ script
       break;
 
     case NAV_LAND:
+      cmd_srv.request.param5 = cur_pos.latitude;
+      cmd_srv.request.param6 = cur_pos.longitude;
+      cmd_srv.request.param7 = 0.0;
       cmd_srv.request.command = buzzuav_closures::getcmd();
       if (current_mode != "LAND" && setmode)
       {