From 8d2db3218c7f21e904f1ffe4e35bcb7bd879d5ca Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 27 Nov 2017 14:24:30 +0900 Subject: [PATCH] Copter: minor comment fix to code handling SET_POSITION_TARGET msgs --- ArduCopter/GCS_Mavlink.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 569b2769c7..c3e20a3738 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -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;