Sub: Simplify home logic #30891
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Sub: Simplify home logic #30891
+3
−36
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When automatically set, home is now Always at the surface.
get_alt_rel()also got updated to useahrs.get_relative_position_D_home(posD);, which uses the home instead of ekf origin, and already falls back to baro, which made the baro code redundant.This fixes my issues with running missions with depth measured from the water surface. specially when using a GPS, which has very bad accuracy on vertical position