LP-601 Use normal altitude sign above home for AboveAltitude condition parameter

Author: f5soh

flight/modules/PathPlanner/pathplanner.c

@@ -601,16 +601,15 @@ 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()
 {
     PositionStateData positionState;
 
     PositionStateGet(&positionState);
 
-    if (positionState.Down <= pathAction.ConditionParameters[0]) {
+    if (-positionState.Down >= pathAction.ConditionParameters[0]) {
         return true;
     }
     return false;

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);