From a2845e4222a9bf47f4a61e549a9e03e57e3b9ad2 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 10 Sep 2024 21:12:31 +0900
Subject: [PATCH] Copter: auto mode takeoff complete pos fix

---
 ArduCopter/mode.h        | 2 +-
 ArduCopter/mode_auto.cpp | 2 +-
 ArduCopter/takeoff.cpp   | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 4c345a5eca..77d72c7073 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -15,7 +15,7 @@ class _AutoTakeoff {
 public:
     void run();
     void start(float complete_alt_cm, bool terrain_alt);
-    bool get_position(Vector3p& completion_pos);
+    bool get_completion_pos(Vector3p& pos_neu_cm);
 
     bool complete;          // true when takeoff is complete
 
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index f6cdec6560..d95687bf12 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -427,7 +427,7 @@ bool ModeAuto::wp_start(const Location& dest_loc)
         Vector3f stopping_point;
         if (_mode == SubMode::TAKEOFF) {
             Vector3p takeoff_complete_pos;
-            if (auto_takeoff.get_position(takeoff_complete_pos)) {
+            if (auto_takeoff.get_completion_pos(takeoff_complete_pos)) {
                 stopping_point = takeoff_complete_pos.tofloat();
             }
         }
diff --git a/ArduCopter/takeoff.cpp b/ArduCopter/takeoff.cpp
index 14fb7d39da..e31ea18710 100644
--- a/ArduCopter/takeoff.cpp
+++ b/ArduCopter/takeoff.cpp
@@ -239,15 +239,15 @@ void _AutoTakeoff::start(float _complete_alt_cm, bool _terrain_alt)
     }
 }
 
-// return takeoff final position if takeoff has completed successfully
-bool _AutoTakeoff::get_position(Vector3p& _complete_pos)
+// return takeoff final target position in cm from the EKF origin if takeoff has completed successfully
+bool _AutoTakeoff::get_completion_pos(Vector3p& pos_neu_cm)
 {
     // only provide location if takeoff has completed
     if (!complete) {
         return false;
     }
 
-    complete_pos = _complete_pos;
+    pos_neu_cm = complete_pos;
     return true;
 }