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GCS_MAVLink: send_set_position_target always sends alt-above-home

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This commit is contained in:
Randy Mackay 2019-03-15 13:52:41 +09:00
parent 95d68b0cf5
commit 27b50f125c
1 changed files with 10 additions and 6 deletions
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16
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -3928,22 +3928,26 @@ void GCS_MAVLINK::send_mount_status() const
void GCS_MAVLINK::send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc)
{
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_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
const 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_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
uint8_t mav_frame = loc.relative_alt ? MAV_FRAME_GLOBAL_RELATIVE_ALT_INT : MAV_FRAME_GLOBAL_INT;
// convert altitude to relative to home
int32_t rel_alt;
if (!loc.get_alt_cm(Location::ALT_FRAME_ABOVE_HOME, rel_alt)) {
return;
}
mavlink_msg_set_position_target_global_int_send(
chan,
AP_HAL::millis(),
target_system,
target_component,
mav_frame,
MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
type_mask,
loc.lat,
loc.lng,
loc.alt,
rel_alt,
0,0,0, // vx, vy, vz
0,0,0, // ax, ay, az
0,0); // yaw, yaw_rate