From 7bde4fa6342230ab37644f94d364cd6e9541773e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@qgroundcontrol.org>
Date: Sat, 4 Oct 2014 12:31:16 +0200
Subject: Revert "Use global position altitude to report HUD altitude, for
 consistency."

---
 src/modules/mavlink/mavlink_messages.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 941b45d88..a2f3828ff 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -820,11 +820,7 @@ protected:
 			msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
 			msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
 			msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
-			/*
-			Do not use sensor_combined.baro_alt_meter here because 
-			it is mismatched with WSG84 AMSL used elsewhere for reporting altitude.
-			*/
-			msg.alt = pos.alt;
+			msg.alt = sensor_combined.baro_alt_meter;
 			msg.climb = -pos.vel_d;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
-- 
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