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Copter: guided consumes set-pos-target-local-ned Z-axis as offset from origin

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Randy Mackay 2020-08-27 11:02:45 +09:00 committed by Andrew Tridgell
parent 80e2dbc9f2
commit 2398b5dec4
1 changed files with 0 additions and 10 deletions
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10
ArduCopter/GCS_Mavlink.cpp
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@ -1101,16 +1101,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) { packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
pos_vector += copter.inertial_nav.get_position(); pos_vector += copter.inertial_nav.get_position();
} else {
// convert from alt-above-home to alt-above-ekf-origin
if (!AP::ahrs().home_is_set()) {
break;
}
Location origin;
pos_vector.z += AP::ahrs().get_home().alt;
if (copter.ahrs.get_origin(origin)) {
pos_vector.z -= origin.alt;
}
} }
} }