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@ -139,9 +139,11 @@ int32_t Plane::relative_altitude_abs_cm(void)
@@ -139,9 +139,11 @@ int32_t Plane::relative_altitude_abs_cm(void)
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*/ |
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float Plane::relative_ground_altitude(bool use_rangefinder_if_available) |
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{ |
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#if RANGEFINDER_ENABLED == ENABLED |
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if (use_rangefinder_if_available && rangefinder_state.in_range) { |
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return rangefinder_state.height_estimate; |
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} |
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#endif |
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#if AP_TERRAIN_AVAILABLE |
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float altitude; |
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