mavlink: spacing, naming of command frame handling

msg/VehicleCommand.msg

@@ -165,10 +165,10 @@ int8 ARMING_ACTION_ARM = 1
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1
 
-uint8 frame                     # The coordinate system of the COMMAND.
-uint8 FRAME_UNKNOWN             = 0 # Not specified.
-uint8 FRAME_GLOBAL              = 1 # Global (WGS84) coordinate frame + MSL altitude.
-uint8 FRAME_GLOBAL_RELATIVE_ALT = 2 # Global (WGS84) coordinate frame + altitude relative to the home position.
+uint8 frame # The coordinate system of the Command
+uint8 FRAME_UNKNOWN = 0 # Not specified
+uint8 FRAME_GLOBAL = 1 # Global WGS84 coordinate frame + altitude relative to mean sea level
+uint8 FRAME_GLOBAL_RELATIVE_ALTITUDE = 2 # Global WGS84 coordinate frame + altitude relative to the home position
 
 float32 param1			# Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
 float32 param2			# Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.

src/modules/mavlink/mavlink_receiver.cpp

@@ -471,17 +471,13 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 
 	switch (cmd_mavlink.frame) {
 	case MAV_FRAME_GLOBAL:
-
-	// FALLTHROUGH
 	case MAV_FRAME_GLOBAL_INT:
 		vcmd.frame = vehicle_command_s::FRAME_GLOBAL;
 		break;
 
 	case MAV_FRAME_GLOBAL_RELATIVE_ALT:
-
-	// FALLTHROUGH
 	case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
-		vcmd.frame = vehicle_command_s::FRAME_GLOBAL_RELATIVE_ALT;
+		vcmd.frame = vehicle_command_s::FRAME_GLOBAL_RELATIVE_ALTITUDE;
 		break;
 
 	default:

src/modules/navigator/navigator_main.cpp

@@ -281,13 +281,11 @@ void Navigator::run()
 				if (PX4_ISFINITE(cmd.param7)) {
 					switch (cmd.frame) {
 					default:
-
-					// FALLTHROUGH
 					case vehicle_command_s::FRAME_GLOBAL:
 						position_setpoint.alt = cmd.param7;
 						break;
 
-					case vehicle_command_s::FRAME_GLOBAL_RELATIVE_ALT:
+					case vehicle_command_s::FRAME_GLOBAL_RELATIVE_ALTITUDE:
 						position_setpoint.alt = cmd.param7 + get_home_position()->alt;
 						break;
 					}