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Copter: check frame for SET_POSITION_TARGET_GLOBAL_INT in guided

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This commit is contained in:
Randy Mackay 2015-08-11 11:07:07 -07:00
parent 72d468353e
commit 587a38b42a
1 changed files with 7 additions and 3 deletions
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10
ArduCopter/GCS_Mavlink.cpp
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@ -1526,6 +1526,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE; bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE; bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE; bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
@ -1545,17 +1552,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
loc.lng = packet.lon_int; loc.lng = packet.lon_int;
loc.alt = packet.alt*100; loc.alt = packet.alt*100;
switch (packet.coordinate_frame) { switch (packet.coordinate_frame) {
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
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;