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mavlink_mission: set INT frame correctly

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Also when formatting malvink mission items from internal mission items,
the INT flag should be obeyed.
This commit is contained in:
Julian Oes
2017-03-31 15:26:26 +02:00
committed by Lorenz Meier
parent 80ce1b6dd8
commit 3c1d785d86
1 changed files with 12 additions and 2 deletions
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14
src/modules/mavlink/mavlink_mission.cpp
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@@ -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) {