Does Copter support absolut altitude in missions? (MAV_FRAME = 0)

Fi156 · July 3, 2018, 9:41am

From:
http://ardupilot.org/planner/docs/common-mavlink-mission-command-messages-mav_cmd.html#common-mavlink-mission-command-messages-mav-cmd-navigation-commands-frames

All other commands use the MAV_FRAME_GLOBAL_RELATIVE_ALT frame, which uses the same latitude and longitude, but sets altitude as relative to the home position (home altitude = 0).

Opposed to:

github.com

ArduPilot/ardupilot/blob/b38b9dc07cf1ed16e3d1a1bf9711355c527187d5/ArduCopter/GCS_Mavlink.cpp#L743


      
              if (copter.set_home_to_current_location(true)) {
                  result = MAV_RESULT_ACCEPTED;
              }
              break;
          }
          // ensure param1 is zero
          if (!is_zero(packet.param1)) {
              break;
          }
          // check frame type is supported
          if (packet.frame != MAV_FRAME_GLOBAL &&
              packet.frame != MAV_FRAME_GLOBAL_INT &&
              packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
              packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
              break;
          }
          // sanity check location
          if (!check_latlng(packet.x, packet.y)) {
              break;
          }
          Location new_home_loc {};

and the possibility to select the feature in for example Mission Planner, which writes waypointfiles with MAV_FRAME = 0 happily…