From 0a1b96e02daaae44b96d9c37789210e9d9d99bfd Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 12 Dec 2019 20:05:00 +0900
Subject: [PATCH] Copter: zigzag uses renamed
 AC_WPNav::rangefinder_used_and_healthy

---
 ArduCopter/mode_zigzag.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
index e2973775b3..0eb0e23b93 100644
--- a/ArduCopter/mode_zigzag.cpp
+++ b/ArduCopter/mode_zigzag.cpp
@@ -285,7 +285,7 @@ bool ModeZigZag::calculate_next_dest(uint8_t dest_num, bool use_wpnav_alt, Vecto
         next_dest.z = wp_nav->get_wp_destination().z;
     } else {
         // if we have a downward facing range finder then use terrain altitude targets
-        terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used();
+        terrain_alt = copter.rangefinder_alt_ok() && wp_nav->rangefinder_used_and_healthy();
         if (terrain_alt) {
             if (!copter.surface_tracking.get_target_alt_cm(next_dest.z)) {
                 next_dest.z = copter.rangefinder_state.alt_cm_filt.get();