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commander: set home position valid flag

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Thomas Gubler
2014-04-25 15:08:38 +02:00
parent f7e18eaa58
commit 06dd10cb01
1 changed files with 4 additions and 0 deletions
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src/modules/commander/commander.cpp
+4
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@@ -617,6 +617,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt);
home->valid = true;
/* announce new home position */
if (*home_pub > 0) {
orb_publish(ORB_ID(home_position), *home_pub, home);
@@ -999,6 +1001,7 @@ int commander_thread_main(int argc, char *argv[])
home.lat = global_position.lat;
home.lon = global_position.lon;
home.alt = global_position.alt;
home.valid = true;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
@@ -1385,6 +1388,7 @@ int commander_thread_main(int argc, char *argv[])
home.lat = global_position.lat;
home.lon = global_position.lon;
home.alt = global_position.alt;
home.valid = true;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);