diff options
| author | tstellanova <tstellanova+github@gmail.com> | 2013-09-02 09:13:36 -0700 |
|---|---|---|
| committer | tstellanova <tstellanova+github@gmail.com> | 2013-09-02 09:13:36 -0700 |
| commit | 027d45acbfa06dc155f6a18d0288fb8230d05c9f (patch) | |
| tree | 81100d71779eafafebbfcc3cc42a74460b29dd3a /src/modules/multirotor_pos_control/multirotor_pos_control_params.c | |
| parent | 38f9c25e9332cf266d38aea521a2ab9e140ec506 (diff) | |
| download | px4-firmware-027d45acbfa06dc155f6a18d0288fb8230d05c9f.tar.gz px4-firmware-027d45acbfa06dc155f6a18d0288fb8230d05c9f.tar.bz2 px4-firmware-027d45acbfa06dc155f6a18d0288fb8230d05c9f.zip | |
respect NAV_TAKEOFF_ALT instead of using hardcoded default takeoff value
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 9c1ef2edb..4d6511851 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -59,6 +59,7 @@ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); int parameters_init(struct multirotor_position_control_param_handles *h) { + h->takeoff_alt = param_find("NAV_TAKEOFF_ALT"); h->thr_min = param_find("MPC_THR_MIN"); h->thr_max = param_find("MPC_THR_MAX"); h->z_p = param_find("MPC_Z_P"); @@ -84,6 +85,7 @@ int parameters_init(struct multirotor_position_control_param_handles *h) int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) { + param_get(h->takeoff_alt,&(p->takeoff_alt)); param_get(h->thr_min, &(p->thr_min)); param_get(h->thr_max, &(p->thr_max)); param_get(h->z_p, &(p->z_p)); |