Merge branch 'master' of https://code.google.com/p/ardupilot-mega

ArduCopter/Mavlink_Common.h

@@ -126,8 +126,8 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
 					chan,
 					current_loc.lat,
 					current_loc.lng,
-					/*current_loc.alt * 10,*/ // changed to absolute altitude
-					g_gps->altitude,
+					current_loc.alt * 10, // reverted to relative altitude
+					/*g_gps->altitude,*/
 					g_gps->ground_speed * rot.a.x,
 					g_gps->ground_speed * rot.b.x,
 					g_gps->ground_speed * rot.c.x);
@@ -248,8 +248,8 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, uint8_t id, uint16_
 					(float)g_gps->ground_speed / 100.0,
 					(dcm.yaw_sensor / 100) % 360,
 					g.rc_3.servo_out/10,
-					/*current_loc.alt / 100.0,*/ // changed to absolute altitude
-					g_gps->altitude/100.0,
+					current_loc.alt / 100.0,
+					/*g_gps->altitude/100.0,*/   // reverted to relative altitude
 					climb_rate);
 			break;
 		}