From 41a5afdf6434d147b433e77cb161e488f6a76976 Mon Sep 17 00:00:00 2001
From: Shiv Tyagi <shivtyagi3015@gmail.com>
Date: Sat, 19 Feb 2022 22:18:10 +0530
Subject: [PATCH] AP_Common: use default location alt frame while sanitizing
 location alt

We should also set alt frame along with copying altitude value while sanitizing it
---
 libraries/AP_Common/Location.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Common/Location.cpp b/libraries/AP_Common/Location.cpp
index 92a86ebc23..4ae650312f 100644
--- a/libraries/AP_Common/Location.cpp
+++ b/libraries/AP_Common/Location.cpp
@@ -355,9 +355,11 @@ bool Location::sanitize(const Location &defaultLoc)
 
     // convert relative alt=0 to mean current alt
     if (alt == 0 && relative_alt) {
-        relative_alt = false;
-        alt = defaultLoc.alt;
-        has_changed = true;
+        int32_t defaultLoc_alt;
+        if (defaultLoc.get_alt_cm(get_alt_frame(), defaultLoc_alt)) {
+            alt = defaultLoc_alt;
+            has_changed = true;
+        }
     }
 
     // limit lat/lng to appropriate ranges