From 04f817020fd7361b00c774ccd8a02004062b62c6 Mon Sep 17 00:00:00 2001
From: Brent McLaughlin <brent@flyasylon.com>
Date: Wed, 18 Nov 2020 22:33:26 -0500
Subject: [PATCH] Copter: use glitch-protected range from rangefinder for
 precision landing

use glitch protected result from rangefinder so precision landing avoids aggressive maneuvers due to large range spikes
---
 ArduCopter/precision_landing.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/precision_landing.cpp b/ArduCopter/precision_landing.cpp
index 4ae12b3e5d..ea184522c0 100644
--- a/ArduCopter/precision_landing.cpp
+++ b/ArduCopter/precision_landing.cpp
@@ -17,7 +17,7 @@ void Copter::update_precland()
 
     // use range finder altitude if it is valid, otherwise use home alt
     if (rangefinder_alt_ok()) {
-        height_above_ground_cm = rangefinder_state.alt_cm;
+        height_above_ground_cm = rangefinder_state.alt_cm_glitch_protected;
     }
 
     precland.update(height_above_ground_cm, rangefinder_alt_ok());