Reccied from Esholt (driving range) to Menston this morning. We didn't quite replicate this route - slightly different off Baildon Moor (although I am not sure we took the right route here) and took the first path down the west side of Ilkley Moor - don't think you need to go quite this far over and you can come down the path that takes you in between the two walled fields at the bottom. This is where I think Piper's Crag is.