Plane: fixed terrain RTL rally bug #25165
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peterbarker
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Oct 3, 2023
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... should have mentioned #25168 contains that new method. |
reproduces the issue from ArduPilot#25157
this fixes a bug where if the terrain database cache does not have the tile for the location of a rally point then RTL to the rally point with TERRAIN_FOLLOW=1 will not track terrain The underlying issue is that Location::loc.change_alt_frame() will return false if the location is not in the terrain memory cache. We can't just extrapolate as the rally point could be in a totally different terrain area to the current location. So instead we set it as terrain_following_pending and fix it as soon as the terrain cache is filled. fixes ArduPilot#25157
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this fixes a bug where if the terrain database cache does not have the tile for the location of a rally point then RTL to the rally point with TERRAIN_FOLLOW=1 will not track terrain
The underlying issue is that Location::loc.change_alt_frame() will return false if the location is not in the terrain memory cache. We can't just extrapolate as the rally point could be in a totally different terrain area to the current location. So instead we set it as terrain_following_pending and fix it as soon as the terrain cache is filled.
this fixes #25157