Merge pull request #998 from PX4/takeoff_fix

navigator: takeoff fix

1 files changed, 16 insertions, 16 deletions

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 401d50f7e..609356eb5 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1477,27 +1477,27 @@ Navigator::check_mission_item_reached()
 			acceptance_radius = _parameters.acceptance_radius;
 		}
 
-		float dist = -1.0f;
-		float dist_xy = -1.0f;
-		float dist_z = -1.0f;
-
-		/* calculate AMSL altitude for this waypoint */
-		float wp_alt_amsl = _mission_item.altitude;
-
-		if (_mission_item.altitude_is_relative)
-			wp_alt_amsl += _home_pos.alt;
-
-		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
-				(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
-				&dist_xy, &dist_z);
-
 		if (_do_takeoff) {
-			if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
-				/* require only altitude for takeoff */
+			/* require only altitude for takeoff */
+			if (_global_pos.alt > _pos_sp_triplet.current.alt - acceptance_radius) {
 				_waypoint_position_reached = true;
 			}
 
 		} else {
+			float dist = -1.0f;
+			float dist_xy = -1.0f;
+			float dist_z = -1.0f;
+
+			/* calculate AMSL altitude for this waypoint */
+			float wp_alt_amsl = _mission_item.altitude;
+
+			if (_mission_item.altitude_is_relative)
+				wp_alt_amsl += _home_pos.alt;
+
+			dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
+					(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
+					&dist_xy, &dist_z);
+
 			if (dist >= 0.0f && dist <= acceptance_radius) {
 				_waypoint_position_reached = true;
 			}