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Plane: log to tlog when we set home via MAVLink

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This commit is contained in:
Andrew Tridgell 2015-06-04 13:18:04 +10:00
parent 5942bf5cf0
commit bf396d7138
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/GCS_Mavlink.cpp
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@ -1304,13 +1304,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// don't allow the 0,0 position
break;
}
Location new_home_loc;
Location new_home_loc {};
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
plane.ahrs.set_home(new_home_loc);
plane.home_is_set = HOME_SET_NOT_LOCKED;
result = MAV_RESULT_ACCEPTED;
plane.gcs_send_text_fmt(PSTR("set home to %.6f %.6f at %um"),
new_home_loc.lat*1.0e-7f,
new_home_loc.lng*1.0e-7f,
(unsigned)(new_home_loc.alt*0.01f));
}
break;
}