Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: accept MAV_FRAME_GLOBAL for set_position and repositioning

This commit is contained in:
Peter Barker 2019-07-27 11:34:46 +10:00 committed by Peter Barker
parent e422f2b2fd
commit 20a20bde65
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduPlane/GCS_Mavlink.cpp
View File

@ -756,7 +756,8 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
else if (packet.frame == MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
requested_position.terrain_alt = 1;
}
else if (packet.frame != MAV_FRAME_GLOBAL_INT) {
else if (packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL) {
// not a supported frame
return MAV_RESULT_FAILED;
}
@ -1295,6 +1296,7 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
cmd.content.location.terrain_alt = false;
switch (pos_target.coordinate_frame)
{
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
break; //default to MSL altitude
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: