It would seem I’m not the only one using ArduPilot1 code so I fiddled with the code and took some extracts from
Ardupilot 2.1 and used it to save the home alt in the EEPROM.
When the autopilot resets it self during flight or is reset by the user (quick 5 times toggle of AP switch) the home position (WP 0) would reset and for that given position during the flight the alt. will be “0”.
If you descend the alt would read something silly like 65000 subsequently with AP armed… Continue