From 9e788436d003b3eba6db0e16d6cf016cc35baace Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh@free.fr>
Date: Sun, 7 Oct 2018 23:16:25 +0200
Subject: [PATCH] LP-601 Use normal altitude sign above home for AboveAltitude
 condition parameter

---
 flight/modules/PathPlanner/pathplanner.c                    | 5 ++---
 ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp | 3 +--
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 0faeeafe2..0650bc59c 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -601,8 +601,7 @@ static uint8_t conditionBelowError()
 /**
  * the AboveAltitude measures the flight altitude relative to home position
  * returns true if above critical altitude
- * WARNING! Altitudes are always negative (down coordinate)
- * Parameter 0:  altitude in meters (negative!)
+ * Parameter 0:  altitude in meters
  */
 static uint8_t conditionAboveAltitude()
 {
@@ -610,7 +609,7 @@ static uint8_t conditionAboveAltitude()
 
     PositionStateGet(&positionState);
 
-    if (positionState.Down <= pathAction.ConditionParameters[0]) {
+    if (-positionState.Down >= pathAction.ConditionParameters[0]) {
         return true;
     }
     return false;
diff --git a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
index 9975246dc..dbbed9ba5 100644
--- a/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
+++ b/ground/gcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
@@ -290,8 +290,7 @@ void opmap_edit_waypoint_dialog::setupConditionWidgets()
         ui->condParam1->setEnabled(true);
         ui->dsb_condParam1->setEnabled(true);
         ui->condParam1->setText("Altitude (m):");
-        ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if "
-                                                  "above critical altitude.</p><p><b>WARNING!</b> altitudes set here are always <b>negative</b> if above Home. (down coordinate)</p>"));
+        ui->descriptionConditionLabel->setText(tr("<p>The AboveAltitude condition measures the flight altitude relative to home position, returns true if above critical altitude.</p>"));
         break;
     case MapDataDelegate::ENDCONDITION_ABOVESPEED:
         ui->condParam1->setEnabled(true);
-- 
2.11.4.GIT