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Plane: support change alt for GUIDED from qgc

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This commit is contained in:
Andrew Tridgell 2017-09-11 13:22:18 +10:00
parent 20bfb82a7b
commit 73d6a05241
1 changed files with 24 additions and 0 deletions
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24
ArduPlane/GCS_Mavlink.cpp
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@ -1706,6 +1706,30 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
// decode packet
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (plane.control_mode != GUIDED) {
break;
}
// only local moves for now
if (packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED) {
break;
}
// just do altitude for now
plane.next_WP_loc.alt += -packet.z*100.0;
gcs().send_text(MAV_SEVERITY_INFO, "Change alt to %.1f",
(plane.next_WP_loc.alt - plane.home.alt)*0.01);
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
{
// Only want to allow companion computer position control when