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Plane: fix rangefinder correction when terrain follow is off

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Jonathan Challinger 2023-05-02 07:45:59 +10:00 committed by Randy Mackay
parent dc8335dfd6
commit bdc08ba354
1 changed files with 2 additions and 3 deletions
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ArduPlane/altitude.cpp
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@ -711,9 +711,8 @@ void Plane::rangefinder_height_update(void)
} }
if (rangefinder_state.in_range) { if (rangefinder_state.in_range) {
// base correction is the difference between baro altitude and // If not using terrain data, we expect zero correction when our height above target is equal to our rangefinder measurement
// rangefinder estimate float correction = height_above_target() - rangefinder_state.height_estimate;
float correction = adjusted_relative_altitude_cm()*0.01 - rangefinder_state.height_estimate;
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
// if we are terrain following then correction is based on terrain data // if we are terrain following then correction is based on terrain data