Plane: fix bug in RTL_AUTOLAND with rally points

After loading the rally point, ModeRTL:navigate checks if rally altitude has been reached before altitude_error_cm gets updated
ArduPilot · Oct 2, 2023 · 383dcf5 · 383dcf5
1 parent af061d4
commit 383dcf5
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
@@ -347,6 +347,7 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
     next_WP_loc = calc_best_rally_or_home_location(current_loc, rtl_altitude_AMSL_cm);
     setup_terrain_target_alt(next_WP_loc);
     set_target_altitude_location(next_WP_loc);
+    plane.altitude_error_cm = calc_altitude_error_cm();
 
     if (aparm.loiter_radius < 0) {
         loiter.direction = -1;