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ArduCopter: create and use location_from_command_t

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Peter Barker 2022-02-03 13:53:46 +11:00 committed by Peter Barker
parent 10be59da17
commit 7fd3402e88
1 changed files with 2 additions and 11 deletions
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13
ArduCopter/GCS_Mavlink.cpp
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@ -666,20 +666,11 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_co
return MAV_RESULT_DENIED;
}
Location request_location {};
request_location.lat = packet.x;
request_location.lng = packet.y;
if (fabsf(packet.z) > LOCATION_ALT_MAX_M) {
Location request_location;
if (!location_from_command_t(packet, request_location)) {
return MAV_RESULT_DENIED;
}
Location::AltFrame frame;
if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.frame, frame)) {
return MAV_RESULT_DENIED; // failed as the location is not valid
}
request_location.set_alt_cm((int32_t)(packet.z * 100.0f), frame);
if (request_location.sanitize(copter.current_loc)) {
// if the location wasn't already sane don't load it
return MAV_RESULT_DENIED; // failed as the location is not valid