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Plane: use current_loc.alt for altitude to TECS

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This commit is contained in:
Andrew Tridgell 2013-07-10 11:55:35 +10:00
parent 9959f6b2df
commit f7c8d1e1ee
1 changed files with 1 additions and 14 deletions
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15
ArduPlane/ArduPlane.pde
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@ -784,21 +784,8 @@ static void update_speed_height(void)
{
if (g.alt_control_algorithm == ALT_CONTROL_TECS && auto_throttle_mode && !throttle_suppressed)
{
// height above field elevation in cm
float hgt_afe_cm;
// calculate the height above field elevation in centimeters
if (barometer.healthy)
{
hgt_afe_cm = (1 - g.altitude_mix) * (g_gps->altitude - home.alt);
hgt_afe_cm += g.altitude_mix * read_barometer();
}
else if (g_gps->status() >= GPS::GPS_OK_FIX_3D)
{
hgt_afe_cm = g_gps->altitude - home.alt;
}
// Call TECS 50Hz update
SpdHgt_Controller->update_50hz(hgt_afe_cm*0.01f);
SpdHgt_Controller->update_50hz((current_loc.alt - home.alt) * 0.01f);
}
}