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Plane: use origin-relative altitudes rather than home-relative

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Peter Barker 2023-10-18 15:00:36 +11:00 committed by Randy Mackay
parent 4b49b80ef2
commit 03e4843764
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -2821,7 +2821,7 @@ void QuadPlane::vtol_position_controller(void)
if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) { if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) {
plane.ahrs.get_location(plane.current_loc); plane.ahrs.get_location(plane.current_loc);
int32_t target_altitude_cm; int32_t target_altitude_cm;
if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) { if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN,target_altitude_cm)) {
break; break;
} }
if (poscontrol.slow_descent && if (poscontrol.slow_descent &&
@ -2829,7 +2829,7 @@ void QuadPlane::vtol_position_controller(void)
// gradually descend as we approach target // gradually descend as we approach target
plane.auto_state.wp_proportion = plane.current_loc.line_path_proportion(plane.prev_WP_loc, plane.next_WP_loc); plane.auto_state.wp_proportion = plane.current_loc.line_path_proportion(plane.prev_WP_loc, plane.next_WP_loc);
int32_t prev_alt; int32_t prev_alt;
if (plane.prev_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,prev_alt)) { if (plane.prev_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN,prev_alt)) {
target_altitude_cm = linear_interpolate(prev_alt, target_altitude_cm = linear_interpolate(prev_alt,
target_altitude_cm, target_altitude_cm,
plane.auto_state.wp_proportion, plane.auto_state.wp_proportion,