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Copter: use terrain alt for precland if rangefinder is unavailable

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This commit is contained in:
Jonathan Challinger 2016-07-07 10:56:24 -07:00 committed by Randy Mackay
parent 0f4367744f
commit e311139a21
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/precision_landing.cpp
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@ -15,13 +15,15 @@ void Copter::init_precland()
void Copter::update_precland()
{
float final_alt = current_loc.alt;
int32_t height_above_ground_cm = current_loc.alt;
// use range finder altitude if it is valid
// use range finder altitude if it is valid, else try to get terrain alt
if (rangefinder_alt_ok()) {
final_alt = rangefinder_state.alt_cm;
height_above_ground_cm = rangefinder_state.alt_cm;
} else if (terrain_use()) {
current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, height_above_ground_cm);
}
copter.precland.update(final_alt);
copter.precland.update(height_above_ground_cm);
}
#endif