Copter: support SET_POSITION_TARGET with WGS84 altitudes

3drobotics · Jan 13, 2016 · aec18c3 · aec18c3
1 parent 19a0675
commit aec18c3
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
@@ -1657,7 +1657,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 case MAV_FRAME_GLOBAL:
                 case MAV_FRAME_GLOBAL_INT:
                 default:
-                    loc.flags.relative_alt = false;
+                    // Copter does not support navigation to absolute altitudes. This is a temporary hack
+                    // to convert the WGS84 altitude to a home-relative altitude before passing it to Copter
+                    loc.alt -= ahrs.get_home().alt;
+                    loc.flags.relative_alt = true;
                     loc.flags.terrain_alt = false;
                     break;
             }