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Mavlink only stream HOME_POSITION if valid (#8440)

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Daniel Agar 2017-12-10 02:31:42 -05:00 committed by GitHub
parent 63718bf27b
commit c56b0a0e7c
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1 changed files with 19 additions and 19 deletions
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38
src/modules/mavlink/mavlink_messages.cpp
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@ -2070,31 +2070,31 @@ protected:
struct home_position_s home;
if (_home_sub->update(&home)) {
mavlink_home_position_t msg = {};
if (home.valid_hpos) {
mavlink_home_position_t msg;
msg.latitude = home.lat * 1e7;
msg.longitude = home.lon * 1e7;
msg.altitude = home.alt * 1e3f;
msg.latitude = home.lat * 1e7;
msg.longitude = home.lon * 1e7;
msg.altitude = home.alt * 1e3f;
msg.x = home.x;
msg.y = home.y;
msg.z = home.z;
msg.x = home.x;
msg.y = home.y;
msg.z = home.z;
matrix::Eulerf euler(0.0f, 0.0f, home.yaw);
matrix::Quatf q(euler);
matrix::Quatf q(matrix::Eulerf(0.0f, 0.0f, home.yaw));
msg.q[0] = q(0);
msg.q[1] = q(1);
msg.q[2] = q(2);
msg.q[3] = q(3);
msg.q[0] = q(0);
msg.q[1] = q(1);
msg.q[2] = q(2);
msg.q[3] = q(3);
msg.approach_x = 0.0f;
msg.approach_y = 0.0f;
msg.approach_z = 0.0f;
msg.approach_x = 0.0f;
msg.approach_y = 0.0f;
msg.approach_z = 0.0f;
mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg);
mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg);
return true;
return true;
}
}
}