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Copter: correct frame/location of guided spline

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Arthur Benemann 2014-11-18 12:08:06 -08:00 committed by Randy Mackay
parent 2c7290fdc0
commit db89bd6f03
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/GCS_Mavlink.pde
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@ -1379,16 +1379,20 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
Location loc;
loc.lat = packet.lat_int;
loc.lng = packet.lon_int;
loc.alt = packet.alt;
loc.alt = packet.alt*100;
switch (packet.coordinate_frame) {
default:
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
loc.flags.relative_alt = false;
loc.flags.terrain_alt = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
loc.flags.relative_alt = true;
loc.flags.terrain_alt = false;
break;
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
loc.flags.relative_alt = true;
loc.flags.terrain_alt = true;