From 0089e98bb6b1ba0077391e6758445316ca203205 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Feb 2019 10:15:47 +1100
Subject: [PATCH] Plane: call AHRS resetHeightDatum() on baro reset

this prevents the AMSL estimate from the EKF going off badly if we
disarm at a high altitude
---
 ArduPlane/commands.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index 0cf304ae8a..be26e14b8f 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -124,6 +124,7 @@ void Plane::update_home()
         }
     }
     barometer.update_calibration();
+    ahrs.resetHeightDatum();
 }
 
 void Plane::set_home_persistently(const Location &loc)