GCS_MAVLink: Match handling of MAV_CMD_EXTERNAL_POSITION_ESTIMATE to …

…common MAVLink dialect
ArduPilot · Mar 7, 2024 · baf0da7 · baf0da7
1 parent 0768141
commit baf0da7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5069,7 +5069,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &
 #if AP_AHRS_POSITION_RESET_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavlink_command_int_t &packet)
 {
-    if (packet.frame != MAV_FRAME_GLOBAL ||
+    if ((packet.frame != MAV_FRAME_GLOBAL && packet.frame != MAV_FRAME_GLOBAL_INT) ||
         !isnan(packet.z)) {
         // we only support global frame without altitude
         return MAV_RESULT_DENIED;