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Plane: Call new TECS method in case of altitude change

This commit is contained in:
George Zogopoulos 2024-11-19 12:41:38 +01:00 committed by Andrew Tridgell
parent 5b8a702b54
commit 2f9ff3ef73
2 changed files with 2 additions and 1 deletions
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2
ArduPlane/altitude.cpp
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@ -44,7 +44,7 @@ void Plane::check_home_alt_change(void)
next_WP_loc.alt += alt_change_cm; next_WP_loc.alt += alt_change_cm;
} }
// reset TECS to force the field elevation estimate to reset // 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; auto_state.last_home_alt_cm = home_alt_cm;
} }

1
libraries/AP_TECS/AP_TECS.cpp
View File

@ -1527,4 +1527,5 @@ void AP_TECS::offset_altitude(const float alt_offset)
// _hgt_dem // _hgt_dem
// _hgt_dem_in_raw // _hgt_dem_in_raw
// _hgt_dem_in // _hgt_dem_in
// Energies
} }