From 9edb50bffc7df7f7eb222b27604c6ab8c8e16f8a Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Fri, 29 May 2026 21:00:34 +0000
Subject: [PATCH] Fix guided waypoint callers to set relative-alt frame
 explicitly

---
 Controls/FollowMe.cs                         | 1 +
 ExtLibs/ExtGuided/ExtGuidedPlugin.cs         | 1 +
 ExtLibs/Xamarin/Xamarin/Linked/httpserver.cs | 6 ++++--
 Plugins/example14-mass.cs                    | 3 ++-
 Swarm/FollowPath.cs                          | 3 ++-
 Utilities/httpserver.cs                      | 6 ++++--
 6 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/Controls/FollowMe.cs b/Controls/FollowMe.cs
index 0013477061..11b165d010 100644
--- a/Controls/FollowMe.cs
+++ b/Controls/FollowMe.cs
@@ -180,6 +180,7 @@ void mainloop()
                         gotohere.alt = (float)(gotolocation.Alt);
                         gotohere.lat = (gotolocation.Lat);
                         gotohere.lng = (gotolocation.Lng);
+                        gotohere.frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
 
                         try
                         {
diff --git a/ExtLibs/ExtGuided/ExtGuidedPlugin.cs b/ExtLibs/ExtGuided/ExtGuidedPlugin.cs
index ef0240a02b..87a53301b2 100644
--- a/ExtLibs/ExtGuided/ExtGuidedPlugin.cs
+++ b/ExtLibs/ExtGuided/ExtGuidedPlugin.cs
@@ -64,6 +64,7 @@ public override bool Loop()
                             alt = float.Parse(loc[2]),
                             lat = double.Parse(loc[0]),
                             lng = double.Parse(loc[1]),
+                            frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT,
                         }
                     );
 
diff --git a/ExtLibs/Xamarin/Xamarin/Linked/httpserver.cs b/ExtLibs/Xamarin/Xamarin/Linked/httpserver.cs
index b0b0f192d9..75c728e582 100644
--- a/ExtLibs/Xamarin/Xamarin/Linked/httpserver.cs
+++ b/ExtLibs/Xamarin/Xamarin/Linked/httpserver.cs
@@ -771,7 +771,8 @@ public void ProcessClient(object clientobj)
                             {
                                 lat = double.Parse(match.Groups[1].Value),
                                 lng = double.Parse(match.Groups[2].Value),
-                                alt = float.Parse(match.Groups[3].Value)
+                                alt = float.Parse(match.Groups[3].Value),
+                                frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT
                             };
                             try
                             {
@@ -820,7 +821,8 @@ public void ProcessClient(object clientobj)
                             {
                                 lat = double.Parse(match.Groups[1].Value),
                                 lng = double.Parse(match.Groups[2].Value),
-                                alt = float.Parse(match.Groups[3].Value)
+                                alt = float.Parse(match.Groups[3].Value),
+                                frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT
                             };
                             try
                             {
diff --git a/Plugins/example14-mass.cs b/Plugins/example14-mass.cs
index cebc6e5f20..eeaecac397 100644
--- a/Plugins/example14-mass.cs
+++ b/Plugins/example14-mass.cs
@@ -130,7 +130,8 @@ public override bool Loaded()
                         {
                             alt = 50,
                             lat = Host.FDMenuMapPosition.Lat / 1e7,
-                            lng = Host.FDMenuMapPosition.Lng / 1e7
+                            lng = Host.FDMenuMapPosition.Lng / 1e7,
+                            frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT
                         });
                     }
                     catch { }
diff --git a/Swarm/FollowPath.cs b/Swarm/FollowPath.cs
index d4aa550b35..7885b32ca0 100644
--- a/Swarm/FollowPath.cs
+++ b/Swarm/FollowPath.cs
@@ -52,7 +52,8 @@ public override void SendCommand()
                             alt = (float)target.Alt,
                             lat = target.Lat,
                             lng = target.Lng,
-                            id = (ushort)MAVLink.MAV_CMD.WAYPOINT
+                            id = (ushort)MAVLink.MAV_CMD.WAYPOINT,
+                            frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT
                         });
                     }
                 }
diff --git a/Utilities/httpserver.cs b/Utilities/httpserver.cs
index 3a5db085f7..6358b819ad 100644
--- a/Utilities/httpserver.cs
+++ b/Utilities/httpserver.cs
@@ -909,7 +909,8 @@ public void ProcessClient(object clientobj)
                             {
                                 lat = double.Parse(match.Groups[1].Value),
                                 lng = double.Parse(match.Groups[2].Value),
-                                alt = float.Parse(match.Groups[3].Value)
+                                alt = float.Parse(match.Groups[3].Value),
+                                frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT
                             };
                             try
                             {
@@ -958,7 +959,8 @@ public void ProcessClient(object clientobj)
                             {
                                 lat = double.Parse(match.Groups[1].Value),
                                 lng = double.Parse(match.Groups[2].Value),
-                                alt = float.Parse(match.Groups[3].Value)
+                                alt = float.Parse(match.Groups[3].Value),
+                                frame = (byte)MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT
                             };
                             try
                             {