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Sub: accept more mav-frame types

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accept mav frames whether or not they have _INT appended
This commit is contained in:
Randy Mackay 2017-09-19 11:57:40 +09:00
parent 70cf21a5ba
commit 305659c5c3
1 changed files with 5 additions and 1 deletions
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6
ArduSub/GCS_Mavlink.cpp
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@ -1373,9 +1373,11 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
} }
// check for supported coordinate frames // check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT && if (packet.coordinate_frame != MAV_FRAME_GLOBAL &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT && packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) { packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break; break;
} }
@ -1409,10 +1411,12 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
loc.flags.relative_alt = true; loc.flags.relative_alt = true;
loc.flags.terrain_alt = false; loc.flags.terrain_alt = false;
break; break;
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT: case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
loc.flags.relative_alt = true; loc.flags.relative_alt = true;
loc.flags.terrain_alt = true; loc.flags.terrain_alt = true;
break; break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT: case MAV_FRAME_GLOBAL_INT:
default: default:
loc.flags.relative_alt = false; loc.flags.relative_alt = false;