erikasnow
October 11, 2019, 3:16pm
1
Does Ardupilot use the mavlink2 updates to the LANDING_TARGET message? (eg. x, y, z, quaternion) According to the mavlink developer guide, only PX4 uses those values, but I’m hoping that’s changed?
No. You can find the relevant code here:
{
return _have_los_meas;
}
// return distance to target
float AC_PrecLand_Companion::distance_to_target()
{
return _distance_to_target;
}
void AC_PrecLand_Companion::handle_msg(const mavlink_message_t &msg)
{
// parse mavlink message
__mavlink_landing_target_t packet;
mavlink_msg_landing_target_decode(&msg, &packet);
_timestamp_us = packet.time_usec;
_distance_to_target = packet.distance;
// compute unit vector towards target
_los_meas_body = Vector3f(-tanf(packet.angle_y), tanf(packet.angle_x), 1.0f);
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