From 8d6d09169f73bfd1d0eb0f9298ea02de8ed8df19 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 9 Aug 2017 14:51:00 +0900 Subject: [PATCH] Copter: rtl uses labs for alt comparison --- ArduCopter/control_rtl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/control_rtl.cpp b/ArduCopter/control_rtl.cpp index 8303d9f9d9..bd245336bc 100644 --- a/ArduCopter/control_rtl.cpp +++ b/ArduCopter/control_rtl.cpp @@ -334,7 +334,7 @@ void Copter::rtl_descent_run() attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate, get_smoothing_gain()); // check if we've reached within 20cm of final altitude - rtl_state_complete = abs(rtl_path.descent_target.alt - current_loc.alt) < 20; + rtl_state_complete = labs(rtl_path.descent_target.alt - current_loc.alt) < 20; } // rtl_loiterathome_start - initialise controllers to loiter over home