void
l_home(const struct listener *l)
{
struct home_position_s home;
orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
}
static void mavlink_send_gps_global_origin(struct transport_tx *trans, struct link_device *dev)
{
if (state.ned_initialized_i) {
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0,
state.ned_origin_i.lla.lat,
state.ned_origin_i.lla.lon,
state.ned_origin_i.hmsl);
MAVLinkSendMessage();
}
}
static inline void mavlink_send_gps_global_origin(void)
{
if (state.ned_initialized_i) {
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0,
state.ned_origin_i.lla.lat,
state.ned_origin_i.lla.lon,
state.ned_origin_i.hmsl);
MAVLinkSendMessage();
}
}
void send(const hrt_abstime t)
{
/* we're sending the GPS home periodically to ensure the
* the GCS does pick it up at one point */
if (home_sub->is_published()) {
home_sub->update(t);
mavlink_msg_gps_global_origin_send(_channel,
(int32_t)(home->lat * 1e7),
(int32_t)(home->lon * 1e7),
(int32_t)(home->alt) * 1000.0f);
}
}
