Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-24 00:33:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: check frame for SET_POSITION_TARGET_GLOBAL_INT in guided

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/GCS_Mavlink.cpp
View File

@ -1526,6 +1526,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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 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;
@ -1545,17 +1552,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
loc.lng = packet.lon_int;
loc.alt = packet.alt*100;
switch (packet.coordinate_frame) {
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
loc.flags.relative_alt = true;
loc.flags.terrain_alt = false;
break;
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
loc.flags.relative_alt = true;
loc.flags.terrain_alt = true;
break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
default:
loc.flags.relative_alt = false;