From 2f9ff3ef73828d3f5726c73e237d9eb58aff8340 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Tue, 19 Nov 2024 12:41:38 +0100
Subject: [PATCH] Plane: Call new TECS method in case of altitude change

---
 ArduPlane/altitude.cpp        | 2 +-
 libraries/AP_TECS/AP_TECS.cpp | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index c32f5802a8..230a16d067 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -44,7 +44,7 @@ void Plane::check_home_alt_change(void)
             next_WP_loc.alt += alt_change_cm;
         }
         // reset TECS to force the field elevation estimate to reset
-        TECS_controller.reset();
+        TECS_controller.offset_altitude(alt_change_cm * 0.01f);
     }
     auto_state.last_home_alt_cm = home_alt_cm;
 }
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 34df07b2bc..69575aab7a 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -1527,4 +1527,5 @@ void AP_TECS::offset_altitude(const float alt_offset)
     // _hgt_dem
     // _hgt_dem_in_raw
     // _hgt_dem_in
+    // Energies
 }
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