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AP_Follow: adjust for location flags being moved out of union

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Peter Barker 2019-01-02 11:00:02 +11:00 committed by Peter Barker
parent 4e7d64fd17
commit 1c6b52c8de
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Follow/AP_Follow.cpp
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@ -178,7 +178,7 @@ bool AP_Follow::get_target_dist_and_vel_ned(Vector3f &dist_ned, Vector3f &dist_w
} }
// change to altitude above home if relative altitude is being used // change to altitude above home if relative altitude is being used
if (target_loc.flags.relative_alt == 1) { if (target_loc.relative_alt == 1) {
current_loc.alt -= AP::ahrs().get_home().alt; current_loc.alt -= AP::ahrs().get_home().alt;
} }
@ -283,11 +283,11 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg)
if (_alt_type == AP_FOLLOW_ALTITUDE_TYPE_RELATIVE) { if (_alt_type == AP_FOLLOW_ALTITUDE_TYPE_RELATIVE) {
// relative altitude // relative altitude
_target_location.alt = packet.relative_alt / 10; // convert millimeters to cm _target_location.alt = packet.relative_alt / 10; // convert millimeters to cm
_target_location.flags.relative_alt = 1; // set relative_alt flag _target_location.relative_alt = 1; // set relative_alt flag
} else { } else {
// absolute altitude // absolute altitude
_target_location.alt = packet.alt / 10; // convert millimeters to cm _target_location.alt = packet.alt / 10; // convert millimeters to cm
_target_location.flags.relative_alt = 0; // reset relative_alt flag _target_location.relative_alt = 0; // reset relative_alt flag
} }
_target_velocity_ned.x = packet.vx * 0.01f; // velocity north _target_velocity_ned.x = packet.vx * 0.01f; // velocity north