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Commit 69a50719 authored by Jacob Walser's avatar Jacob Walser
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Fix for missing altitude updates on APM

parent 59428e13
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Showing with 5 additions and 3 deletions
src/Vehicle/Vehicle.cc
View file @ 69a50719
......@@ -716,7 +716,11 @@ void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
mavlink_global_position_int_t globalPositionInt;
mavlink_msg_global_position_int_decode(&message, &globalPositionInt);
// ArduPilot sends bogus GLOBAL_POSITION_INT messages with lat/lat 0/0 even when it has not gps signal
_altitudeRelativeFact.setRawValue(globalPositionInt.relative_alt / 1000.0);
_altitudeAMSLFact.setRawValue(globalPositionInt.alt / 1000.0);
// ArduPilot sends bogus GLOBAL_POSITION_INT messages with lat/lat 0/0 even when it has no gps signal
// Apparently, this is in order to transport relative altitude information.
if (globalPositionInt.lat == 0 && globalPositionInt.lon == 0) {
return;
}
......@@ -727,8 +731,6 @@ void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
_coordinate.setLongitude(globalPositionInt.lon / (double)1E7);
_coordinate.setAltitude(globalPositionInt.alt / 1000.0);
emit coordinateChanged(_coordinate);
_altitudeRelativeFact.setRawValue(globalPositionInt.relative_alt / 1000.0);
_altitudeAMSLFact.setRawValue(globalPositionInt.alt / 1000.0);
}
void Vehicle::_handleAltitude(mavlink_message_t& message)
......
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