From 80ce1b6dd8f90b17aee27c6203ccb967490dc870 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 31 Mar 2017 12:24:43 +0200 Subject: [PATCH] mavlink_mission: support INT altitude frames The relative altitude flag was not set correclty when waypoints are sent using the INT protocol. --- src/modules/mavlink/mavlink_mission.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index e7f1400dfe..fcd4adcd19 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -927,10 +927,12 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * mission_item->altitude = mavlink_mission_item->z; - if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL) { + if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL || + mavlink_mission_item->frame == MAV_FRAME_GLOBAL_INT) { mission_item->altitude_is_relative = false; - } else if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT) { + } else if (mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || + mavlink_mission_item->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) { mission_item->altitude_is_relative = true; }