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

Copter: adjust for location flags being moved out of union

Browse Source
This commit is contained in:
Peter Barker 2019-01-02 11:09:02 +11:00 committed by Peter Barker
parent 1f5727c0b2
commit f48d757bd4
3 changed files with 9 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/GCS_Mavlink.cpp
View File

@ -525,7 +525,7 @@ bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
// add home alt if needed
if (cmd.content.location.flags.relative_alt) {
if (cmd.content.location.relative_alt) {
cmd.content.location.alt += copter.ahrs.get_home().alt;
}
@ -1248,13 +1248,13 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
switch (packet.coordinate_frame) {
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
loc.flags.relative_alt = true;
loc.flags.terrain_alt = false;
loc.relative_alt = true;
loc.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;
loc.relative_alt = true;
loc.terrain_alt = true;
break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
@ -1262,8 +1262,8 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// 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;
loc.relative_alt = true;
loc.terrain_alt = false;
break;
}
pos_neu_cm = copter.pv_location_to_vector(loc);

4
ArduCopter/RC_Channel.cpp
View File

@ -192,10 +192,8 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
if (copter.mode_auto.mission.num_commands() == 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
cmd.id = MAV_CMD_NAV_TAKEOFF;
cmd.content.location.options = 0;
cmd.p1 = 0;
cmd.content.location.lat = 0;
cmd.content.location.lng = 0;
memset(&cmd.content.location, 0, sizeof(cmd.content.location));
cmd.content.location.alt = MAX(copter.current_loc.alt,100);
// use the current altitude for the target alt for takeoff.

2
ArduCopter/inertia.cpp
View File

@ -25,6 +25,6 @@ void Copter::read_inertia()
}
// set flags and get velocity
current_loc.flags.relative_alt = true;
current_loc.relative_alt = true;
climb_rate = inertial_nav.get_velocity_z();
}