diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index e21c712b32..0e6e9482a6 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1165,26 +1165,17 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             if (!check_latlng(packet.lat_int, packet.lon_int)) {
                 break;
             }
-            Location loc;
-            loc.lat = packet.lat_int;
-            loc.lng = packet.lon_int;
-            loc.alt = packet.alt*100;
-            switch (packet.coordinate_frame) {
-                case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
-                case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
-                    loc.relative_alt = true;
-                    loc.terrain_alt = false;
-                    break;
-                case MAV_FRAME_GLOBAL_TERRAIN_ALT:
-                case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
-                    loc.relative_alt = true;
-                    loc.terrain_alt = true;
-                    break;
-                case MAV_FRAME_GLOBAL:
-                case MAV_FRAME_GLOBAL_INT:
-                default:
-                    break;
+            Location::ALT_FRAME frame;
+            if (!mavlink_coordinate_frame_to_location_alt_frame(packet.coordinate_frame, frame)) {
+                // unknown coordinate frame
+                break;
             }
+            const Location loc{
+                packet.lat_int,
+                packet.lon_int,
+                int32_t(packet.alt*100),
+                frame,
+            };
             if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
                 break;
             }