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Sub: SET_POSITION_TARGET_LOCAL_NED above origin

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Joshua Henderson 2022-02-04 14:31:43 -05:00 committed by Andrew Tridgell
parent 0e18bd450d
commit 2836ec4ae0
1 changed files with 0 additions and 3 deletions
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3
ArduSub/GCS_Mavlink.cpp
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@ -614,9 +614,6 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) { packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
pos_vector += sub.inertial_nav.get_position_neu_cm(); pos_vector += sub.inertial_nav.get_position_neu_cm();
} else {
// convert from alt-above-home to alt-above-ekf-origin
pos_vector.z = sub.pv_alt_above_origin(pos_vector.z);
} }
} }