From 3c1d785d86c0f298b06c96d0f486f4ded976e4dd Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 31 Mar 2017 15:26:26 +0200 Subject: [PATCH] mavlink_mission: set INT frame correctly Also when formatting malvink mission items from internal mission items, the INT flag should be obeyed. --- src/modules/mavlink/mavlink_mission.cpp | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index fcd4adcd19..ef655b24e6 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -1138,10 +1138,20 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s * mavlink_mission_item->z = mission_item->altitude; if (mission_item->altitude_is_relative) { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + if (_int_mode) { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT_INT; + + } else { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + } } else { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + if (_int_mode) { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_INT; + + } else { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + } } switch (mission_item->nav_cmd) {