AP_DDS: Rally set alt frame compared with each value in the altitude …

…enum
ArduPilot · Dec 3, 2024 · ba5d645 · ba5d645
1 parent 3d943b9
commit ba5d645
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -1022,7 +1022,10 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
             rally_location.flags |= (rally_set_request.rally.altitude_frame << 3);
 
             if (rally_location.lat != 0 && rally_location.lng != 0
-                && rally_set_request.rally.altitude_frame <= static_cast<uint8_t>(Location::AltFrame::ABOVE_TERRAIN)) {
+                && (rally_set_request.rally.altitude_frame == static_cast<uint8_t>(Location::AltFrame::ABOVE_HOME)
+                    || rally_set_request.rally.altitude_frame == static_cast<uint8_t>(Location::AltFrame::ABOVE_ORIGIN)
+                    || rally_set_request.rally.altitude_frame == static_cast<uint8_t>(Location::AltFrame::ABOVE_TERRAIN)
+                    || rally_set_request.rally.altitude_frame == static_cast<uint8_t>(Location::AltFrame::ABSOLUTE))) {
                 if (rally->append(rally_location)) {
                     rally_set_response.success = true;
                 } else {