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Plane: fixed terrain glide slope

This commit is contained in:
Andrew Tridgell 2014-07-25 09:07:45 +10:00
parent 34cbaa6f17
commit 9d6b745556
1 changed files with 9 additions and 4 deletions
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13
ArduPlane/altitude.pde
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@ -312,11 +312,16 @@ static void set_offset_altitude_location(const Location &loc)
target_altitude.offset_cm = loc.alt - current_loc.alt;
#if AP_TERRAIN_AVAILABLE
float terrain_altitude_loc, terrain_altitude_current;
/*
if this location has the terrain_alt flag set and we know the
terrain altitude of our current location then treat it as a
terrain altitude
*/
float height;
if (loc.flags.terrain_alt &&
terrain.height_amsl(current_loc, terrain_altitude_current) &&
terrain.height_amsl(loc, terrain_altitude_loc)) {
target_altitude.offset_cm = (terrain_altitude_loc - terrain_altitude_current) * 100;
target_altitude.terrain_following &&
terrain.height_above_terrain(current_loc, height)) {
target_altitude.offset_cm = target_altitude.terrain_alt_cm - (height * 100);
}
#endif
}