From 107691b7a7f1927b28f10d0abc7e889158320231 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 11 Jun 2016 14:37:44 +1000
Subject: [PATCH] Plane: fixed initial descent rate in quadplane auto land

---
 ArduPlane/quadplane.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 7d9b477fbe..8f58f4fab0 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1353,7 +1353,7 @@ void QuadPlane::vtol_position_controller(void)
         break;
 
     case QPOS_LAND_DESCEND: {
-        float height_above_ground = (plane.current_loc.alt - loc.alt)*0.01;
+        float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
         pos_control->set_alt_target_from_climb_rate(-landing_descent_rate_cms(height_above_ground),
                                                     plane.G_Dt, true);
         break;