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AP_Common: add SITL check for matching alt frame in linearly_interpolate_alt #33079

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Merged
peterbarker merged 1 commit into from
May 20, 2026
Merged

AP_Common: add SITL check for matching alt frame in linearly_interpolate_alt #33079

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7 changes: 7 additions & 0 deletions libraries/AP_Common/Location.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -681,6 +681,13 @@ int32_t Location::limit_lattitude(int32_t lat)
// this alt-frame will be updated to match the destination alt frame
void Location::linearly_interpolate_alt(const Location &point1, const Location &point2)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// alt frames must match; mixing frames produces meaningless interpolated altitudes
if (point1.get_alt_frame() != point2.get_alt_frame()) {
AP_HAL::panic("linearly_interpolate_alt: alt frames differ (point1=%u point2=%u)",
(unsigned)point1.get_alt_frame(), (unsigned)point2.get_alt_frame());
}
#endif
// new target's distance along the original track and then linear interpolate between the original origin and destination altitudes
set_alt_cm(point1.alt + (point2.alt - point1.alt) * constrain_float(line_path_proportion(point1, point2), 0.0f, 1.0f), point2.get_alt_frame());
}
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