Copter: convert RTL_ALT to int32

ArduCopter/Parameters.cpp

@@ -109,7 +109,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @DisplayName: RTL Altitude
     // @Description: The minimum alt above home the vehicle will climb to before returning.  If the vehicle is flying higher than this value it will return at its current altitude.
     // @Units: cm
-    // @Range: 200 8000
+    // @Range: 200 300000
     // @Increment: 1
     // @User: Standard
     GSCALAR(rtl_altitude,   "RTL_ALT",     RTL_ALT),
@@ -1186,6 +1186,10 @@ void Copter::load_parameters(void)
     // convert fs_options parameters
     convert_fs_options_params();
 
+#if MODE_RTL_ENABLED == ENABLED
+    g.rtl_altitude.convert_parameter_width(AP_PARAM_INT16);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags

ArduCopter/Parameters.h

@@ -394,7 +394,7 @@ public:
     AP_Float        pilot_takeoff_alt;
 
 #if MODE_RTL_ENABLED == ENABLED
-    AP_Int16        rtl_altitude;
+    AP_Int32        rtl_altitude;
     AP_Int16        rtl_speed_cms;
     AP_Float        rtl_cone_slope;
     AP_Int16        rtl_alt_final;

ArduCopter/avoidance_adsb.cpp

@@ -144,7 +144,7 @@ void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND(Mode::Number mode)
     }
 }
 
-int16_t AP_Avoidance_Copter::get_altitude_minimum() const
+int32_t AP_Avoidance_Copter::get_altitude_minimum() const
 {
 #if MODE_RTL_ENABLED == ENABLED
     // do not descend if below RTL alt

ArduCopter/avoidance_adsb.h

@@ -20,7 +20,7 @@ private:
     void set_mode_else_try_RTL_else_LAND(Mode::Number mode);
 
     // get minimum limit altitude allowed on descend
-    int16_t get_altitude_minimum() const;
+    int32_t get_altitude_minimum() const;
 
 protected:
     // override avoidance handler