Send rangefinder target to GCS

ArduPilot · Jul 18, 2023 · 3f497e9 · 3f497e9
1 parent 3f53395
commit 3f497e9
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -144,6 +144,9 @@ bool GCS_MAVLINK_Sub::send_info()
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
     send_named_float("RollPitch", sub.roll_pitch_flag);
 
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("RFTarget", sub.surface_tracking.get_target_rangefinder_cm() / 100.0f);
+
     return true;
 }