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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-16 19:34:44 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-16 19:34:44 +0100 |
| commit | 92578e1fc3a3b011aa361ecee65d1bcce1593f6b (patch) | |
| tree | 95184f450baa7eec198e2bd259bca18a0344ad8c /src/modules/navigator | |
| parent | a6af669399b8f12e497aff6292ec35dfd541d903 (diff) | |
| download | px4-firmware-92578e1fc3a3b011aa361ecee65d1bcce1593f6b.tar.gz px4-firmware-92578e1fc3a3b011aa361ecee65d1bcce1593f6b.tar.bz2 px4-firmware-92578e1fc3a3b011aa361ecee65d1bcce1593f6b.zip | |
navigator: ignore min altitude on MC, loiter always at current altitude
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5952d667f..577c767a8 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1059,7 +1059,7 @@ Navigator::start_loiter() float min_alt_amsl = _parameters.min_altitude + _home_pos.alt; /* use current altitude if above min altitude set by parameter */ - if (_global_pos.alt < min_alt_amsl) { + if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) { _pos_sp_triplet.current.alt = min_alt_amsl; mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt)); |