Use MAV_CMD_DO_CHANGE_ALTITUDE and MAV_CMD_DO_REPOSITION for moving vehicle - #3724
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Use MAV_CMD_DO_CHANGE_ALTITUDE and MAV_CMD_DO_REPOSITION for moving vehicle#3724peterbarker wants to merge 2 commits into
peterbarker wants to merge 2 commits into
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Tested basic do-repos and changealt using github build products. |
This was referenced May 18, 2026
meee1
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May 27, 2026
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| [Obsolete] | ||
| public void setNewWPAlt(Locationwp gotohere) | ||
| public void setNewAlt(float new_relhome_alt_m) |
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Are you concerned with external callers to this method breaking?
I believe I changed all in-tree callers to pass in the required altitude rather than the Locationwp object.
The new method of changing the altitude - MAV_CMD_DO_CHANGE_ALTITUDE doesn't deal with waypoints at all - it's just an altitude. The old method did require the Locationwp as it's calling setWP (leaving lat/lng at and setting the magic value "3" to get the weird behaviour we are trying to eliminate in ArduPilot).
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MissionPlanner currently uses some archaic code which relies on magic "current" values to move the vehicle in GUIDED mode using mission_item and mission_item_int commands.
We have supported DO_CHANGE_ALT and DO_REPOSITION for years - use them so we can retire the ArduPilot code.