Copter: ensure send_position_target_global_int alt always absolute

2021-01-28 09:23:47 +09:00 · 2021-01-28 09:23:47 +09:00 · 97c1445bce
commit 97c1445bce
parent ea0efd3a1a
1 changed files with 6 additions and 0 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -96,6 +96,12 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
    if (!copter.flightmode->get_wp(target)) {
        return;
    }
+
+    // convert altitude frame to AMSL (this may use the terrain database)
+    if (!target.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
+        return;
+    }
+
    mavlink_msg_position_target_global_int_send(
        chan,
        AP_HAL::millis(), // time_boot_ms