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mavlink_receiver: handle LANDING_TARGET message: publish irlock_report when landing target position invalid

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Dusan Zivkovic
2020-05-23 11:42:21 -04:00
committed by Daniel Agar
parent 951969ba00
commit b7ebdab7fd
2 changed files with 14 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+12
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@@ -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);
}
}