AP_Landing: fixed assumption of AMSL WPs #30041
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the AP_Landing library assumed AMSL waypoints for both prev_WP_loc and next_WP_loc. This led to an incorrect glide slope for a NAV_LAND fixed wing landing when the landing WP is terrain relative. This change fixes the code to handle either an AGL or AMSL location, which are the only two location types used in plane
This was referenced May 12, 2025
peterbarker
approved these changes
May 12, 2025
| if (loc.get_alt_frame() == Location::AltFrame::ABOVE_TERRAIN) { | ||
| // if we can't get true terrain then assume flat terrain | ||
| // around home | ||
| return loc.alt + ahrs.get_home().alt; |
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Would be nice to not reference the private-in-the-future .alt field directly in new code.
|
@peterbarker it is a regression from 4.5.x |
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the AP_Landing library assumed AMSL waypoints for both prev_WP_loc and next_WP_loc. This led to an incorrect glide slope for a NAV_LAND fixed wing landing when the landing WP is terrain relative.
This change fixes the code to handle either an AGL or AMSL location, which are the only two location types used in plane
fixes an issue in 4.6.0-beta reported here: https://discuss.ardupilot.org/t/plane-4-6-0-beta/126358/183
tested in SITL