From 873d7bb5d5d9dc4b19ab612332da708944bb1bc7 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 15 May 2011 06:04:16 +0000
Subject: [PATCH] updated relative altitude in nav_wp

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2284 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/commands_logic.pde | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopterMega/commands_logic.pde b/ArduCopterMega/commands_logic.pde
index c0d8480858..2dfcdf94b2 100644
--- a/ArduCopterMega/commands_logic.pde
+++ b/ArduCopterMega/commands_logic.pde
@@ -245,10 +245,10 @@ void do_nav_wp()
 {
 	wp_control = WP_MODE;
 
-	// no longer needed as get_command_with_index takes care of this
 	// next_command.alt is a relative altitude!!!
-	// next_command.alt += home.alt;
-
+	if (next_command.options & WP_OPTION_ALT_RELATIVE) {
+		next_command.alt	+= home.alt;
+	}
 	set_next_WP(&next_command);
 
 	// this is our bitmask to verify we have met all conditions to move on