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AC_WP_Nav_OA: origin_loc & dest_loc should use _terrain_alt_oabak

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This commit is contained in:
Josh Henderson 2021-03-29 22:34:10 -04:00 committed by Randy Mackay
parent ef95bf088c
commit fb789a07ce
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_WPNav_OA.cpp
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@ -80,8 +80,8 @@ bool AC_WPNav_OA::update_wpnav()
}
// convert origin and destination to Locations and pass into oa
const Location origin_loc(_origin_oabak, _terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
const Location destination_loc(_destination_oabak, _terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
const Location origin_loc(_origin_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
const Location destination_loc(_destination_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
Location oa_origin_new, oa_destination_new;
const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new);
switch (oa_retstate) {