paparazzi/pprzlink

MISSION_GOTO_WP_LLA altitude unit mismatch

pgorczak opened this issue · 3 comments

pgorczak commented

Just leaving this here because I don't know where the fix would go: The MISSION_GOTO_WP_LLA message is described as having a wp_alt field containing altitude in millimeters. When trying the mission module with v5.12_stable, the module actually interprets the value as meters.

gautierhattenberger commented

It seems to be fine, the alt field should really be in mm. Can you be a bit more specific about your use-case ? Which firmware (rotorcraft or fixedwind) ? Which message did you sent and what was the result ?

pgorczak commented

Sure! I used fixedwing. You can reproduce it with the easystar_ets airframe and the mission_fw flight plan (sim target and Simulation). When sending

datalink MISSION_GOTO_WP_LLA 4 3 434630000 12600000 90000 -1 0

and switching to Mission in GCS, the target altitude jumps to 90000 m.