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FYI @peterbarker. Related to mavlink/mavlink#2092 |
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handle_MAV_CMD_NAV_TAKEOFF denied anything that was not MAV_FRAME_GLOBAL_RELATIVE_ALT, so a GCS that sends COMMAND_INT with MAV_FRAME_GLOBAL_RELATIVE_ALT_INT got MAV_RESULT_DENIED even though the two frames are synonyms (mavlink/mavlink#2092, and ArduPilot#2376 marks the _INT spelling superseded rather than invalid). Everywhere else we accept both spellings, either through mavlink_coordinate_frame_to_location_alt_frame() or explicitly as in handle_command_int_external_position_estimate(). Do the same here.
Takeoff via COMMAND_INT must succeed with MAV_FRAME_GLOBAL_RELATIVE_ALT_INT (the _INT spelling of the same frame) and be denied for absolute frames.
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Summary
Copter: accept
MAV_FRAME_GLOBAL_RELATIVE_ALT_INTfor NAV_TAKEOFF sent via COMMAND_INT.Classification & Testing (check all that apply and add your own)
Extended
MAV_CMD_NAV_TAKEOFF_command_int: takeoff withMAV_FRAME_GLOBAL_RELATIVE_ALT_INTmust succeed, andMAV_FRAME_GLOBAL/MAV_FRAME_GLOBAL_INTmust be denied. The new subtest fails on master (MAV_RESULT_DENIED) and passes with this change.Description
Since mavlink/mavlink#2092 the
_INTframes are synonyms of their non-_INTcounterparts, and they are now marked superseded rather than invalid. Copter's NAV_TAKEOFF handler only acceptedMAV_FRAME_GLOBAL_RELATIVE_ALT, so a GCS that sent the_INTspelling got DENIED. Everywhere else ArduPilot already accepts both spellings; this does the same for takeoff.@julianoes