Rover: factor send_position_target_global_int up into GCS_MAVLink

Author: peterbarker

Rover/GCS_MAVLink_Rover.cpp

@@ -72,39 +72,9 @@ MAV_STATE GCS_MAVLINK_Rover::vehicle_system_status() const
     return MAV_STATE_ACTIVE;
 }
 
-void GCS_MAVLINK_Rover::send_position_target_global_int()
+bool GCS_MAVLINK_Rover::get_target_location(Location &target) const
 {
-    Location target;
-    if (!rover.control_mode->get_desired_location(target)) {
-        return;
-    }
-
-    // get altitude as AMSL (this may use the terrain database)
-    float alt_amsl_m;
-    if (!target.get_alt_m(Location::AltFrame::ABSOLUTE, alt_amsl_m)) {
-        return;
-    }
-
-    static constexpr uint16_t POSITION_TARGET_TYPEMASK_LAST_BYTE = 0xF000;
-    static constexpr uint16_t TYPE_MASK = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
-                                          POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
-                                          POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE;
-    mavlink_msg_position_target_global_int_send(
-        chan,
-        AP_HAL::millis(), // time_boot_ms
-        MAV_FRAME_GLOBAL, // targets are always global altitude
-        TYPE_MASK, // ignore everything except the x/y/z components
-        target.lat, // latitude as 1e7
-        target.lng, // longitude as 1e7
-        alt_amsl_m, // altitude AMSL in metres
-        0.0f, // vx
-        0.0f, // vy
-        0.0f, // vz
-        0.0f, // afx
-        0.0f, // afy
-        0.0f, // afz
-        0.0f, // yaw
-        0.0f); // yaw_rate
+    return rover.control_mode->get_desired_location(target);
 }
 
 void GCS_MAVLINK_Rover::send_nav_controller_output() const

Rover/GCS_MAVLink_Rover.h

@@ -22,7 +22,7 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_nav_set_yaw_speed(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
 
-    void send_position_target_global_int() override;
+    bool get_target_location(Location &loc) const override;
 
     uint64_t capabilities() const override;
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -6206,7 +6206,7 @@ void GCS_MAVLINK::send_position_target_global_int()
     if (!get_target_location(target)) {
         return;
     }
-    if (!target_location.initialised()) {
+    if (!target.initialised()) {
         return;
     }
     float alt_amsl_m;