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making first setpoint on follow target activation loiter in place

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Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 69351675b6
commit 554d1ac013
3 changed files with 34 additions and 17 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -1
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@@ -1644,7 +1644,9 @@ void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
if (_follow_me_pub == nullptr) {
_follow_me_pub = orb_advertise(ORB_ID(follow_target), &follow_target_topic);
} else {
warnx("publishing follow %f %f %f", (double) follow_target_topic.velocity[0], (double) follow_target_topic.velocity[1], (double) follow_target_topic.velocity[2]);
warnx("publishing follow lat = %f lon = %f alt = %f", (double) follow_target_topic.lat,
(double) follow_target_topic.lon,
(double) follow_target_topic.alt);
orb_publish(ORB_ID(follow_target), _follow_me_pub, &follow_target_topic);
}
}