ArduCopter: add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

Author: peterbarker

ArduCopter/Copter.cpp

@@ -766,6 +766,11 @@ void Copter::update_altitude()
 }
 
 // vehicle specific waypoint info helpers
+bool Copter::get_wp_location(Location &loc) const
+{
+    return flightmode->get_wp(loc);
+}
+
 bool Copter::get_wp_distance_m(float &distance) const
 {
     // see GCS_MAVLINK_Copter::send_nav_controller_output()

ArduCopter/Copter.h

@@ -696,6 +696,7 @@ class Copter : public AP_Vehicle {
     void read_AHRS(void);
     void update_altitude();
     bool get_wp_distance_m(float &distance) const override;
+    bool get_wp_location(Location &loc) const override;
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
     bool get_rate_ef_targets(Vector3f& rate_ef_targets) const override;