Goto locaiton using COMMAND_INT

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -428,6 +428,19 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
         return;
     }
 
+    if (vehicle->capabilityBits() && MAV_PROTOCOL_CAPABILITY_COMMAND_INT) {
+        vehicle->sendMavCommandInt(vehicle->defaultComponentId(),
+                                   MAV_CMD_DO_REPOSITION,
+                                   MAV_FRAME_GLOBAL,
+                                   true,   // show error is fails
+                                   -1.0f,
+                                   MAV_DO_REPOSITION_FLAGS_CHANGE_MODE,
+                                   0.0f,
+                                   NAN,
+                                   gotoCoord.latitude(),
+                                   gotoCoord.longitude(),
+                                   vehicle->altitudeAMSL()->rawValue().toFloat());
+    } else {
         vehicle->sendMavCommand(vehicle->defaultComponentId(),
                                 MAV_CMD_DO_REPOSITION,
                                 true,   // show error is fails
@@ -438,6 +451,7 @@ void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoord
                                 gotoCoord.latitude(),
                                 gotoCoord.longitude(),
                                 vehicle->altitudeAMSL()->rawValue().toFloat());
+    }
 }
 
 void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange)