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Plane: convert next WP alt to global frame in POSITION_TARGET_GLOBAL_INT

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Peter Barker 2022-02-06 11:07:05 +11:00 committed by Peter Barker
parent 0c7ad9511f
commit d914e4e63b
1 changed files with 6 additions and 1 deletions
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7
ArduPlane/GCS_Mavlink.cpp
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@ -214,6 +214,11 @@ void GCS_MAVLINK_Plane::send_position_target_global_int()
static constexpr uint16_t TYPE_MASK = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE | static constexpr uint16_t TYPE_MASK = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE | POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE; POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE;
int32_t alt = 0;
if (!next_WP_loc.is_zero()) {
UNUSED_RESULT(next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, alt));
}
mavlink_msg_position_target_global_int_send( mavlink_msg_position_target_global_int_send(
chan, chan,
AP_HAL::millis(), // time_boot_ms AP_HAL::millis(), // time_boot_ms
@ -221,7 +226,7 @@ void GCS_MAVLINK_Plane::send_position_target_global_int()
TYPE_MASK, // ignore everything except the x/y/z components TYPE_MASK, // ignore everything except the x/y/z components
next_WP_loc.lat, // latitude as 1e7 next_WP_loc.lat, // latitude as 1e7
next_WP_loc.lng, // longitude as 1e7 next_WP_loc.lng, // longitude as 1e7
next_WP_loc.alt * 0.01f, // altitude is sent as a float alt * 0.01, // altitude is sent as a float
0.0f, // vx 0.0f, // vx
0.0f, // vy 0.0f, // vy
0.0f, // vz 0.0f, // vz