Plane: Call new TECS method in case of altitude change

ArduPilot · Nov 25, 2024 · 0aea72c · 0aea72c
1 parent cad596b
commit 0aea72c
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
@@ -44,7 +44,7 @@ void Plane::check_home_alt_change(void)
             next_WP_loc.alt += alt_change_cm;
         }
         // reset TECS to force the field elevation estimate to reset
-        TECS_controller.reset();
+        TECS_controller.offset_altitude(alt_change_cm * 0.01f);
     }
     auto_state.last_home_alt_cm = home_alt_cm;
 }

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -1527,4 +1527,5 @@ void AP_TECS::offset_altitude(const float alt_offset)
     // _hgt_dem
     // _hgt_dem_in_raw
     // _hgt_dem_in
+    // Energies
 }