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Use set alt m #28539

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Use set alt m #28539

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66cbbba
AP_Follow: use set_alt_m when possible
Ryanf55 Nov 6, 2024
31c7e69
ArduPlane: use set_alt_m when possible
Ryanf55 Nov 6, 2024
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6 changes: 3 additions & 3 deletions ArduPlane/mode_LoiterAltQLand.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,12 +43,12 @@ bool ModeLoiterAltQLand::handle_guided_request(Location target_loc)
// setup altitude
#if AP_TERRAIN_AVAILABLE
if (plane.terrain_enabled_in_mode(Mode::Number::QLAND)) {
target_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_TERRAIN);
target_loc.set_alt_m(quadplane.qrtl_alt, Location::AltFrame::ABOVE_TERRAIN);
} else {
target_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME);
target_loc.set_alt_m(quadplane.qrtl_alt, Location::AltFrame::ABOVE_HOME);
}
#else
target_loc.set_alt_cm(quadplane.qrtl_alt*100UL, Location::AltFrame::ABOVE_HOME);
target_loc.set_alt_m(quadplane.qrtl_alt, Location::AltFrame::ABOVE_HOME);
#endif

plane.set_guided_WP(target_loc);
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2 changes: 1 addition & 1 deletion libraries/AP_Follow/AP_Follow.cpp
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Expand Up @@ -389,7 +389,7 @@ bool AP_Follow::handle_follow_target_message(const mavlink_message_t &msg)
Location new_loc = _target_location;
new_loc.lat = packet.lat;
new_loc.lng = packet.lon;
new_loc.set_alt_cm(packet.alt*100, Location::AltFrame::ABSOLUTE);
new_loc.set_alt_m(packet.alt, Location::AltFrame::ABSOLUTE);

// FOLLOW_TARGET is always AMSL, change the provided alt to
// above home if we are configured for relative alt
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