Plane: check if terrain following is enabled in AGL calculation

9 years ago · e05c7b3367
1 changed files with 3 additions and 1 deletions
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@ -145,7 +145,9 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
				@@ -145,7 +145,9 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)

 #if AP_TERRAIN_AVAILABLE
    float altitude;
-    if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(altitude, true)) {
+    if (target_altitude.terrain_following &&
+        terrain.status() == AP_Terrain::TerrainStatusOK &&
+        terrain.height_above_terrain(altitude, true)) {
        return altitude;
    }
 #endif