From 1ad83a80025c6ec719eb5c2ab2025619c7eff497 Mon Sep 17 00:00:00 2001
From: Thomas Stauber <48206725+ThomasRigi@users.noreply.github.com>
Date: Tue, 12 Mar 2024 00:49:11 +0100
Subject: [PATCH] mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator
 altitude in geodetic frame (#22866)

---
 src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp b/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp
index bcc7e0f145..9467df81e9 100644
--- a/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp
+++ b/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp
@@ -86,7 +86,8 @@ private:
 				msg.area_floor = -1000;
 				msg.category_eu = MAV_ODID_CATEGORY_EU_UNDECLARED;
 				msg.class_eu = MAV_ODID_CLASS_EU_UNDECLARED;
-				msg.operator_altitude_geo = home_position.alt;
+				float wgs84_amsl_offset = vehicle_gps_position.altitude_ellipsoid_m - vehicle_gps_position.altitude_msl_m;
+				msg.operator_altitude_geo = home_position.alt + wgs84_amsl_offset;
 
 				// timestamp: 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
 				static uint64_t utc_offset_s = 1'546'300'800; // UTC seconds since 00:00:00 01/01/2019