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GCS Alt fix.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2287 f9c3cf11-9bcb-44bc-f272-b75c42450872
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mich146@hotmail.com 2011-05-15 06:14:55 +00:00
parent 873d7bb5d5
commit c95419fbf5
1 changed files with 2 additions and 5 deletions
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ArduCopterMega/GCS_Mavlink.pde
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@ -400,12 +400,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// command needs scaling
x = tell_command.lat/1.0e7; // local (x), global (latitude)
y = tell_command.lng/1.0e7; // local (y), global (longitude)
if (tell_command.options & WP_OPTION_ALT_RELATIVE) {
z = (tell_command.alt - home.alt) / 1.0e2; // because tell_command.alt already includes a += home.alt
} else {
// ACM is processing alt inside each command. so we save and load raw values. - this is diffrent to APM
z = tell_command.alt/1.0e2; // local (z), global/relative (altitude)
}
}
switch (tell_command.id) { // Switch to map APM command fields inot MAVLink command fields