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Plane: bug fix for relative alt

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This commit is contained in:
Randy Mackay 2014-03-04 13:54:46 +09:00
parent 9446e9fd2e
commit bc86a5043a
2 changed files with 8 additions and 2 deletions
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4
ArduPlane/GCS_Mavlink.pde
View File

@ -1447,7 +1447,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// convert mission command to mavlink mission item packet
mavlink_mission_item_t ret_packet;
memset(&ret_packet, 0, sizeof(ret_packet));
if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet, false)) {
if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet, true)) {
goto mission_item_send_failed;
}
@ -1688,7 +1688,7 @@ mission_item_send_failed:
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// convert mavlink packet to mission command
if (!AP_Mission::mavlink_to_mission_cmd(packet, cmd, false)) {
if (!AP_Mission::mavlink_to_mission_cmd(packet, cmd, true)) {
result = MAV_MISSION_ERROR;
goto mission_failed;
}

6
ArduPlane/commands.pde
View File

@ -35,9 +35,15 @@ static void set_next_WP(const AP_Mission::Mission_Command& cmd)
// additionally treat zero altitude as current altitude
if (next_WP.content.location.alt == 0) {
next_WP.content.location.alt = current_loc.alt;
next_WP.content.location.flags.relative_alt = false;
}
}
// convert relative alt to absolute alt
if (next_WP.content.location.flags.relative_alt) {
next_WP.content.location.flags.relative_alt = false;
next_WP.content.location.alt += home.alt;
}
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are