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Copter: BugFix DO_SET_ROI returns Lat,Lon,Alt to GCS

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Michael Oborne 2013-12-31 20:19:00 +08:00 committed by Randy Mackay
parent e15527973a
commit 2e56592886
1 changed files with 4 additions and 1 deletions
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5
ArduCopter/GCS_Mavlink.pde
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@ -1386,7 +1386,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI:
param1 = tell_command.p1; // MAV_ROI (aka roi mode) is held in wp's parameter but we actually do nothing with it because we only support pointing at a specific location provided by x,y and z parameters
param1 = tell_command.p1; // MAV_ROI (aka roi mode) is held in wp's parameter but we actually do nothing with it because we only support pointing at a specific location provided by x,y and z parameters
x = tell_command.lat/1.0e7f; // local (x), global (latitude)
y = tell_command.lng/1.0e7f; // local (y), global (longitude)
z = tell_command.alt/1.0e2f; // local (z), global/relative (altitude)
break;
case MAV_CMD_CONDITION_YAW: