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GCS_MAVLink: use relative altitide from ahrs.get_relative_position_D_home()

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This will return a barometer height if the EKF is not available.
This commit is contained in:
Peter Barker 2018-05-16 12:53:58 +10:00 committed by Francisco Ferreira
parent 324be6ca0d
commit da40ebaf70
1 changed files with 4 additions and 2 deletions
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6
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2721,8 +2721,10 @@ int32_t GCS_MAVLINK::global_position_int_alt() const {
return global_position_current_loc.alt * 10UL;
}
int32_t GCS_MAVLINK::global_position_int_relative_alt() const {
const Location &home = AP::ahrs().get_home();
return (global_position_current_loc.alt - home.alt) * 10;
float posD;
AP::ahrs().get_relative_position_D_home(posD);
posD *= -1000.0f; // change from down to up and metres to millimeters
return posD;
}
void GCS_MAVLINK::send_global_position_int()
{