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Plane: fix rangefinder correction when terrain follow is off #23658

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merged 1 commit into from
May 21, 2024
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Plane: fix rangefinder correction when terrain follow is off #23658

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5 changes: 2 additions & 3 deletions ArduPlane/altitude.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -680,9 +680,8 @@ void Plane::rangefinder_height_update(void)
}

if (rangefinder_state.in_range) {
// base correction is the difference between baro altitude and
// rangefinder estimate
float correction = adjusted_relative_altitude_cm()*0.01 - rangefinder_state.height_estimate;
// If not using terrain data, we expect zero correction when our height above target is equal to our rangefinder measurement
float correction = height_above_target() - rangefinder_state.height_estimate;

#if AP_TERRAIN_AVAILABLE
// if we are terrain following then correction is based on terrain data
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