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

AC_WPNav: make Location(Vector3f) require ALTFRAME

This commit is contained in:
Josh Henderson 2021-03-17 17:16:26 -04:00 committed by Randy Mackay
parent 1b584a95ba
commit 5551deab4b
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_WPNav/AC_WPNav_OA.cpp
View File

@ -80,8 +80,8 @@ bool AC_WPNav_OA::update_wpnav()
} }
// convert origin and destination to Locations and pass into oa // convert origin and destination to Locations and pass into oa
const Location origin_loc(_origin_oabak); const Location origin_loc(_origin_oabak, _terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
const Location destination_loc(_destination_oabak); const Location destination_loc(_destination_oabak, _terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
Location oa_origin_new, oa_destination_new; Location oa_origin_new, oa_destination_new;
const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new); const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new);
switch (oa_retstate) { switch (oa_retstate) {
@ -100,7 +100,7 @@ bool AC_WPNav_OA::update_wpnav()
// calculate stopping point // calculate stopping point
Vector3f stopping_point; Vector3f stopping_point;
get_wp_stopping_point(stopping_point); get_wp_stopping_point(stopping_point);
_oa_destination = Location(stopping_point); _oa_destination = Location(stopping_point, Location::AltFrame::ABOVE_ORIGIN);
if (set_wp_destination(stopping_point, false)) { if (set_wp_destination(stopping_point, false)) {
_oa_state = oa_retstate; _oa_state = oa_retstate;
} }