From 2f8764d31ac4a301cf14176d9e4e0711633bbf33 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 6 Apr 2015 15:29:47 -0700
Subject: [PATCH] AntennaTracker: added LOCAL_POSITION message

---
 AntennaTracker/GCS_Mavlink.pde | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/AntennaTracker/GCS_Mavlink.pde b/AntennaTracker/GCS_Mavlink.pde
index 63f6c7c553..4d843eb8d5 100644
--- a/AntennaTracker/GCS_Mavlink.pde
+++ b/AntennaTracker/GCS_Mavlink.pde
@@ -183,6 +183,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         send_location(chan);
         break;
 
+    case MSG_LOCAL_POSITION:
+        CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
+        send_local_position(ahrs);
+        break;
+
     case MSG_NAV_CONTROLLER_OUTPUT:
         CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
         send_nav_controller_output(chan);
@@ -422,6 +427,7 @@ GCS_MAVLINK::data_stream_send(void)
 
     if (stream_trigger(STREAM_POSITION)) {
         send_message(MSG_LOCATION);
+        send_message(MSG_LOCAL_POSITION);
     }
 
     if (stream_trigger(STREAM_RAW_CONTROLLER)) {