From ca9cb2214f2a5d290e0c5a0ace1c6ce4264fa16f Mon Sep 17 00:00:00 2001
From: RomanBapst <bapstroman@gmail.com>
Date: Thu, 2 May 2024 14:44:35 +0200
Subject: [PATCH] quadchute: fixed sign for handling altitude resets

Signed-off-by: RomanBapst <bapstroman@gmail.com>
---
 src/modules/vtol_att_control/vtol_type.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 808c9c03c2a..1d6f5b667a5 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -324,7 +324,7 @@ void VtolType::handleEkfResets()
 		_altitude_reset_counter = _local_pos->z_reset_counter;
 
 		if (PX4_ISFINITE(_quadchute_ref_alt)) {
-			_quadchute_ref_alt += _local_pos->delta_z;
+			_quadchute_ref_alt -= _local_pos->delta_z;
 		}
 
 	}