From ad48394b503ba0f1731c5f7b7e9ff75c2d2f8352 Mon Sep 17 00:00:00 2001
From: Samuel Tabor <samuelctabor@gmail.com>
Date: Thu, 10 Sep 2020 10:24:19 +0100
Subject: [PATCH] Plane: Add comment to clarify additional 10m in soaring
 altitude target.

---
 ArduPlane/navigation.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 884365c8ae..aa2d0d48dd 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -344,6 +344,8 @@ void Plane::update_fbwb_speed_height(void)
                 // we're in soaring mode with throttle suppressed
                 set_target_altitude_current();
             } else {
+                // we're in soaring mode climbing back to altitude. Set target to SOAR_ALT_CUTOFF plus 10m to ensure we positively climb
+                // through SOAR_ALT_CUTOFF, thus triggering throttle suppression and return to glide.
                 target_altitude.amsl_cm = 100*plane.g2.soaring_controller.get_alt_cutoff() + 1000 + AP::ahrs().get_home().alt;
             }
         }