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AP_Mission: Remove duplicated code associated with copy the waypoint location

This commit is contained in:
Michael du Breuil 2017-10-13 11:16:41 -07:00 committed by Tom Pittenger
parent 2959c270a6
commit dbf67aa38a
1 changed files with 7 additions and 15 deletions
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22
libraries/AP_Mission/AP_Mission.cpp
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@ -826,34 +826,26 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
return MAV_MISSION_INVALID_PARAM7;
}
if (copy_location) {
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
switch (packet.frame) {
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
if (copy_location) {
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
cmd.content.location.flags.relative_alt = 0;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
if (copy_location) {
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
cmd.content.location.flags.relative_alt = 1;
break;
#if AP_TERRAIN_AVAILABLE
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
if (copy_location) {
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
}
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
// we mark it as a relative altitude, as it doesn't have
// home alt added
cmd.content.location.flags.relative_alt = 1;