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Copter: fix rtl completion altitude

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Jonathan Challinger 2015-04-13 14:36:15 -07:00 committed by Randy Mackay
parent b344a7ed17
commit 0f9e50d61c
1 changed files with 1 additions and 1 deletions
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ArduCopter/control_rtl.pde
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@ -300,7 +300,7 @@ static void rtl_descent_run()
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// check if we've reached within 20cm of final altitude
rtl_state_complete = fabs(g.rtl_alt_final - inertial_nav.get_altitude()) < 20.0f;
rtl_state_complete = fabs(pv_alt_above_origin(g.rtl_alt_final) - inertial_nav.get_altitude()) < 20.0f;
}
// rtl_loiterathome_start - initialise controllers to loiter over home