From a38fef65c77b02c80ea28e2e062d3271b95ebe62 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Sun, 30 Sep 2012 07:29:33 +0800
Subject: [PATCH] AP,AC Add ability to override an altitude in any auto mode,
 on the current active target

---
 ArduCopter/GCS_Mavlink.pde | 16 ++++++++++++++++
 ArduPlane/GCS_Mavlink.pde  | 16 ++++++++++++++++
 2 files changed, 32 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index e9eeedcffde..ea69ad80f72 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1542,6 +1542,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 msg->compid,
                 0);
 
+        } else if(packet.current == 3) {                                               //current = 3 is a flag to tell us this is a alt change only
+
+            // add home alt if needed
+            if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
+                tell_command.alt += home.alt;
+            }
+
+            set_new_altitude(tell_command.alt);
+
+            // verify we recevied the command
+            mavlink_msg_mission_ack_send(
+                chan,
+                msg->sysid,
+                msg->compid,
+                0);
+
         } else {
             // Check if receiving waypoints (mission upload expected)
             if (!waypoint_receiving) break;
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 0fc1c89dbc8..194e8aeb024 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1541,6 +1541,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 msg->compid,
                 0);
 
+        } else if(packet.current == 3) {                                               //current = 3 is a flag to tell us this is a alt change only
+
+            // add home alt if needed
+            if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
+                tell_command.alt += home.alt;
+            }
+
+            next_WP.alt = tell_command.alt;
+
+            // verify we recevied the command
+            mavlink_msg_mission_ack_send(
+                chan,
+                msg->sysid,
+                msg->compid,
+                0);
+
         } else {
             // Check if receiving waypoints (mission upload expected)
             if (!waypoint_receiving) {