Cotper: RTL correct height for RTL_ALT_FINAL > 0 (home vs origin)
#29244
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I didn't know we had this feature, it allows the vehicle to return to the home location but hover at some given altitude above home.
When doing code review I spotted that the
descent_targetlocation is setup relative to home and then passed to the position controller which is relative to origin. This converts it to above origin and then updates the comparison function to use inertial nav altitude which is also relative to origin.I suspect this has been broken for ages, I wonder if anyone uses the feature? Although admittedly the difference between home and origin is typically small so it may not have been obvious. Maybe we could remove the functionality?
But I can understand why you might want this, maybe we should fix it and add a autotest?