From 7d83e7d0bdcf93baaa5ad35c2ee2e970ce0d2cbf Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 3 Mar 2023 21:59:47 +1100
Subject: [PATCH] ArduCopter: add support for MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET

---
 ArduCopter/Copter.cpp | 7 +++++++
 ArduCopter/Copter.h   | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index e007c879b6d..91e6fe6ecaf 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -941,6 +941,13 @@ void Copter::update_altitude()
 }
 
 // vehicle specific waypoint info helpers
+#if AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
+bool Copter::get_wp_location(Location &loc) const
+{
+    return flightmode->get_wp(loc);
+}
+#endif  // AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
+
 bool Copter::get_wp_distance_m(float &distance) const
 {
     // see GCS_MAVLINK_Copter::send_nav_controller_output()
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index b1e34ad0919..175df2b5257 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -721,6 +721,9 @@ private:
     void read_AHRS(void);
     void update_altitude();
     bool get_wp_distance_m(float &distance) const override;
+#if AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
+    bool get_wp_location(Location &loc) const override;
+#endif  // AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED
     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_rads) const override;