From 4c335e89a0f8830c23f375eb10e8cf9d0d0760d8 Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Thu, 5 Dec 2024 11:54:23 +0100
Subject: [PATCH] Plane: Pass external HAGL to TECS

---
 ArduPlane/ArduPlane.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 7d27791de5..1f6d0c6159 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -789,7 +789,16 @@ float Plane::tecs_hgt_afe(void)
       coming.
     */
     float hgt_afe;
+
     if (flight_stage == AP_FixedWing::FlightStage::LAND) {
+
+        #if AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
+            // if external HAGL is active use that
+            if (get_external_HAGL(hgt_afe)) {
+                return hgt_afe;
+            }
+        #endif
+
         hgt_afe = height_above_target();
 #if AP_RANGEFINDER_ENABLED
         hgt_afe -= rangefinder_correction();