From 3b9c306d64acdebddbf9de1d518777f11c066cbe Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 12 Jul 2013 11:11:26 +0200 Subject: Hotfix for relative altitude waypoints --- src/modules/mavlink/waypoints.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 405046750..eea928a17 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -373,7 +373,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt); } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt); } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z); -- cgit v1.2.3