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Plane: Pass external HAGL to TECS

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This commit is contained in:
George Zogopoulos 2024-12-05 11:54:23 +01:00 committed by Randy Mackay
parent b59b2138b8
commit d6d4f996f7
1 changed files with 9 additions and 0 deletions
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9
ArduPlane/ArduPlane.cpp
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@ -789,7 +789,16 @@ float Plane::tecs_hgt_afe(void)
coming.
*/
float hgt_afe;
if (flight_stage == AP_FixedWing::FlightStage::LAND) {
#if AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
// if external HAGL is active use that
if (get_external_HAGL(hgt_afe)) {
return hgt_afe;
}
#endif
hgt_afe = height_above_target();
#if AP_RANGEFINDER_ENABLED
hgt_afe -= rangefinder_correction();