mode_guided: Advance FS, use rtl_alt instead

tridge · May 2, 2023 · 30ee2aa · 30ee2aa
1 parent 184fa8f
commit 30ee2aa
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
@@ -1290,8 +1290,8 @@ void ModeGuided::update_adv_failsafe()
 
     // start takeoff to arfs_travel_alt
     case AC_Adv_Failsafe::StartTakeOff: {
-        // first set our target altitude
-        int16_t ascent_altitude = copter.adv_failsafe.get_travel_altitude();
+        // first set our target altitude, rtl altitude parameter
+        int16_t ascent_altitude = copter.g.rtl_altitude;
         // if not flying, same procedure as takeoff gcs command
         if (!AP_Notify::flags.flying) {
             do_user_takeoff(ascent_altitude, true); // tranlsate to cm
@@ -1311,8 +1311,8 @@ void ModeGuided::update_adv_failsafe()
     case AC_Adv_Failsafe::AscentToFSCoordAlt:
         // when we arrive to arfs_travel_alt, change to next stage, go to failsafe coordinate
         if (wp_nav->reached_wp_destination()) {
-            // get altude to ascent, maximum of failsafe altitude and failsafe travel altitude
-            int16_t ascent_altitude = copter.adv_failsafe.get_travel_altitude();
+            // get altude to ascent, rtl altitude parameter
+            int16_t ascent_altitude = copter.g.rtl_altitude;
             // set_destination to o ur failsafe coordinate, but arfs_travel_alt
             Location dest(copter.adv_failsafe.get_latitude(), copter.adv_failsafe.get_longitude(), ascent_altitude, Location::AltFrame::ABOVE_HOME);
             set_destination(dest);