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AP_Camera: use location methods to convert altitudes

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Peter Barker 2019-04-01 16:59:18 +11:00 committed by Peter Barker
parent c590e1f1c5
commit 919dc26ff6
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_Camera/AP_Camera.cpp
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@ -326,13 +326,17 @@ void AP_Camera::send_feedback(mavlink_channel_t chan) const
// completely ignore this failure! AHRS will provide its best guess.
}
float altitude, altitude_rel;
if (current_loc.relative_alt) {
altitude = current_loc.alt+ahrs.get_home().alt;
altitude_rel = current_loc.alt;
} else {
altitude = current_loc.alt;
altitude_rel = current_loc.alt - ahrs.get_home().alt;
int32_t altitude = 0;
if (!current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, altitude)) {
// completely ignore this failure! this is a shouldn't-happen
// as current_loc should never be in an altitude we can't
// convert.
}
int32_t altitude_rel = 0;
if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, altitude_rel)) {
// completely ignore this failure! this is a shouldn't-happen
// as current_loc should never be in an altitude we can't
// convert.
}
mavlink_msg_camera_feedback_send(