<commit_before>#include "follow_me_impl.h"
#include "system.h"
#include "global_include.h"
#include "px4_custom_mode.h"

namespace dronecode_sdk {

using namespace std::placeholders; // for `_1`

FollowMeImpl::FollowMeImpl(System &system) : PluginImplBase(system)
{
    // (Lat, Lon, Alt) => double, (vx, vy, vz) => float
    _last_location = _target_location =
        FollowMe::TargetLocation{double(NAN), double(NAN), double(NAN), NAN, NAN, NAN};
    _parent->register_plugin(this);
}

FollowMeImpl::~FollowMeImpl()
{
    _parent->unregister_plugin(this);
}

void FollowMeImpl::init()
{
    _parent->register_mavlink_message_handler(MAVLINK_MSG_ID_HEARTBEAT,
                                              std::bind(&FollowMeImpl::process_heartbeat, this, _1),
                                              static_cast<void *>(this));
}<commit_msg>follow_me: small improvement<commit_after>#include "follow_me_impl.h"
#include "system.h"
#include "global_include.h"
#include "px4_custom_mode.h"

namespace dronecode_sdk {

FollowMeImpl::FollowMeImpl(System &system) : PluginImplBase(system)
{
    // (Lat, Lon, Alt) => double, (vx, vy, vz) => float
    _last_location = _target_location =
        FollowMe::TargetLocation{double(NAN), double(NAN), double(NAN), NAN, NAN, NAN};
    _parent->register_plugin(this);
}

FollowMeImpl::~FollowMeImpl()
{
    _parent->unregister_plugin(this);
}

void FollowMeImpl::init()
{
    _parent->register_mavlink_message_handler(
        MAVLINK_MSG_ID_HEARTBEAT,
        std::bind(&FollowMeImpl::process_heartbeat, this, std::placeholders::_1),
        static_cast<void *>(this));
}
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