Copter: check frame for SET_POSITION_TARGET_GLOBAL_INT in guided

ArduPilot · Aug 11, 2015 · 7199b57 · 7199b57
1 parent 580c0ad
commit 7199b57
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -1526,6 +1526,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
+        // check for supported coordinate frames
+        if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
+            packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
+            packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
+            break;
+        }
+
         bool pos_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
         bool vel_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
         bool acc_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
@@ -1545,17 +1552,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             loc.lng = packet.lon_int;
             loc.alt = packet.alt*100;
             switch (packet.coordinate_frame) {
-                case MAV_FRAME_GLOBAL_RELATIVE_ALT:
                 case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
                     loc.flags.relative_alt = true;
                     loc.flags.terrain_alt = false;
                     break;
-                case MAV_FRAME_GLOBAL_TERRAIN_ALT:
                 case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
                     loc.flags.relative_alt = true;
                     loc.flags.terrain_alt = true;
                     break;
-                case MAV_FRAME_GLOBAL:
                 case MAV_FRAME_GLOBAL_INT:
                 default:
                     loc.flags.relative_alt = false;