From 267ef480260729b7e04aa0bebb58154bbf4cdc05 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 10 Sep 2014 20:13:58 +1000
Subject: [PATCH] Copter : disable tilt correction of range finder data for use
 by EKF

This is a temporary fix. We need to make separate range and altitude measurements available.
---
 ArduCopter/config.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 09b7b725fe..cf52fa5e04 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -223,6 +223,10 @@
  # define SONAR_TIMEOUT_MS  1000            // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt
 #endif
 
+#ifndef SONAR_TILT_CORRECTION               // by disable tilt correction for use of range finder data by EKF
+ # define SONAR_TILT_CORRECTION DISABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Channel 7 and 8 default options
 //