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Plane: move handling of SET_GPS_GLOBAL_ORIGIN up

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This commit is contained in:
Peter Barker 2017-09-19 12:30:45 +10:00 committed by Randy Mackay
parent d0c2898ebc
commit 7e631ba16c
2 changed files with 6 additions and 16 deletions
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21
ArduPlane/GCS_Mavlink.cpp
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@ -895,22 +895,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{ {
switch (msg->msgid) { switch (msg->msgid) {
case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
{
mavlink_set_gps_global_origin_t packet;
mavlink_msg_set_gps_global_origin_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.latitude, packet.longitude)) {
break;
}
Location ekf_origin {};
ekf_origin.lat = packet.latitude;
ekf_origin.lng = packet.longitude;
ekf_origin.alt = packet.altitude / 10;
plane.set_ekf_origin(ekf_origin);
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{ {
handle_request_data_stream(msg, true); handle_request_data_stream(msg, true);
@ -1955,3 +1939,8 @@ const AP_FWVersion &GCS_MAVLINK_Plane::get_fwver() const
{ {
return plane.fwver; return plane.fwver;
} }
void GCS_MAVLINK_Plane::set_ekf_origin(const Location& loc)
{
plane.set_ekf_origin(loc);
}

1
ArduPlane/GCS_Mavlink.h
View File

@ -28,6 +28,7 @@ protected:
AP_Rally *get_rally() const override; AP_Rally *get_rally() const override;
AP_GPS *get_gps() const override; AP_GPS *get_gps() const override;
const AP_FWVersion &get_fwver() const override; const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override;
uint8_t sysid_my_gcs() const override; uint8_t sysid_my_gcs() const override;