diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a2f3828ff..941b45d88 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -820,7 +820,11 @@ protected: msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e); msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f; - msg.alt = sensor_combined.baro_alt_meter; + /* + Do not use sensor_combined.baro_alt_meter here because + it is mismatched with WSG84 AMSL used elsewhere for reporting altitude. + */ + msg.alt = pos.alt; msg.climb = -pos.vel_d; _mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg); |