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Copter: fix rtl's use of rally point alt

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Thanks to OXINARF for spotting this
This commit is contained in:
Randy Mackay 2016-07-04 11:40:36 +09:00
parent 57977e2d76
commit 68d3655195
1 changed files with 1 additions and 9 deletions
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10
ArduCopter/control_rtl.cpp
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@ -424,15 +424,7 @@ void Copter::rtl_compute_return_target(bool terrain_following_allowed)
{
// set return target to nearest rally point or home position
#if AC_RALLY == ENABLED
RallyLocation rallyLoc;
Location_Class home(ahrs.get_home());
bool use_home = !rally.find_nearest_rally_point(current_loc, rallyLoc);
if (!use_home) {
rtl_path.return_target = Location_Class(rallyLoc.lat, rallyLoc.lng, home.alt, home.get_alt_frame());
} else {
rtl_path.return_target = home;
}
rtl_path.return_target = rally.calc_best_rally_or_home_location(current_loc, ahrs.get_home().alt);
#else
rtl_path.return_target = ahrs.get_home();
#endif