From b7ebdab7fd301bc19d5200765e04911c75a3860e Mon Sep 17 00:00:00 2001
From: Dusan Zivkovic <dusanmg@gmail.com>
Date: Thu, 7 May 2020 19:21:15 +0200
Subject: [PATCH] mavlink_receiver: handle LANDING_TARGET message: publish
 irlock_report when landing target position invalid

---
 src/modules/mavlink/mavlink_receiver.cpp | 12 ++++++++++++
 src/modules/mavlink/mavlink_receiver.h   |  2 ++
 2 files changed, 14 insertions(+)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index ef4f675f90..22e0d0d8b8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2328,6 +2328,18 @@ MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
 		landing_target_pose.z_abs = landing_target.z;
 
 		_landing_target_pose_pub.publish(landing_target_pose);
+
+	} else {
+		irlock_report_s irlock_report{};
+
+		irlock_report.timestamp = hrt_absolute_time();
+		irlock_report.signature = landing_target.target_num;
+		irlock_report.pos_x = landing_target.angle_x;
+		irlock_report.pos_y = landing_target.angle_y;
+		irlock_report.size_x = landing_target.size_x;
+		irlock_report.size_y = landing_target.size_y;
+
+		_irlock_report_pub.publish(irlock_report);
 	}
 }
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index c0731403ea..476a93cd3a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -72,6 +72,7 @@
 #include <uORB/topics/gps_inject_data.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/input_rc.h>
+#include <uORB/topics/irlock_report.h>
 #include <uORB/topics/landing_target_pose.h>
 #include <uORB/topics/log_message.h>
 #include <uORB/topics/manual_control_setpoint.h>
@@ -236,6 +237,7 @@ private:
 	uORB::Publication<debug_value_s>			_debug_value_pub{ORB_ID(debug_value)};
 	uORB::Publication<debug_vect_s>				_debug_vect_pub{ORB_ID(debug_vect)};
 	uORB::Publication<follow_target_s>			_follow_target_pub{ORB_ID(follow_target)};
+	uORB::Publication<irlock_report_s>			_irlock_report_pub{ORB_ID(irlock_report)};
 	uORB::Publication<landing_target_pose_s>		_landing_target_pose_pub{ORB_ID(landing_target_pose)};
 	uORB::Publication<log_message_s>			_log_message_pub{ORB_ID(log_message)};
 	uORB::Publication<obstacle_distance_s>			_obstacle_distance_pub{ORB_ID(obstacle_distance)};