From f61ce67f87c163534974f5db5ef092a6d6b210a4 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <dongagne@outlook.com>
Date: Thu, 26 Sep 2019 11:52:28 -0700
Subject: [PATCH] Stream HOME_POSITION on ArduPilot

---
 src/FirmwarePlugin/APM/APMFirmwarePlugin.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
index 2f2f7a80c..e8fd34d17 100644
--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -656,6 +656,10 @@ void APMFirmwarePlugin::initializeStreamRates(Vehicle* vehicle)
             vehicle->requestDataStream(streamInfo.mavStream, static_cast<uint16_t>(streamInfo.streamRate));
         }
     }
+
+    // Streaming of home position is required for various features in QGC to work correctly. Otherwise relative altitudes
+    // cannot be calculated correctly.
+    vehicle->sendMavCommand(MAV_COMP_ID_AUTOPILOT1, MAV_CMD_SET_MESSAGE_INTERVAL, true /* showError */, MAVLINK_MSG_ID_HOME_POSITION, 1000000 /* 1 second interval in usec */);
 }
 
 
-- 
2.22.0