aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: minor comment fix to code handling SET_POSITION_TARGET msgs

Browse Source
This commit is contained in:
Randy Mackay 2017-11-27 14:24:30 +09:00
parent bde1aaa2f6
commit 8d2db3218c
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/GCS_Mavlink.cpp
View File

@ -1522,8 +1522,8 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
default:
// Copter does not support navigation to absolute altitudes. This converts the WGS84 altitude
// to a home-relative altitude before passing it to the navigation controller
// pv_location_to_vector does not support absolute altitudes.
// Convert the absolute altitude to a home-relative altitude before calling pv_location_to_vector
loc.alt -= copter.ahrs.get_home().alt;
loc.flags.relative_alt = true;
loc.flags.terrain_alt = false;