AC_PosControl: fix ekf-z-reset

rmackay9 · Sep 28, 2024 · 8d66d4b · 8d66d4b
1 parent 5ac73bf
commit 8d66d4b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -1529,7 +1529,7 @@ void AC_PosControl::handle_ekf_z_reset()
 
         // To zero real position shift during relative position modes like Loiter, PosHold, Guided velocity and accleration control.
         _pos_target.z = _inav.get_position_z_up_cm() + _p_pos_z.get_error();
-        _pos_desired.z = _pos_target.z - (_pos_offset.z - _pos_terrain);
+        _pos_desired.z = _pos_target.z - (_pos_offset.z + _pos_terrain);
         _vel_target.z = _inav.get_velocity_z_up_cms() + _pid_vel_z.get_error();
         _vel_desired.z = _vel_target.z - (_vel_offset.z + _vel_terrain);