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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-04 15:49:02 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-04 15:49:02 +0200 |
| commit | 829a317d23093894c3d8974cce887ab3c19eba08 (patch) | |
| tree | 4abb5c768c3483cf96743d28dce0fb6e433a14c2 /src/modules | |
| parent | 904cfd7c493e2e6f3d67ba03e9a24c14d9e62b6e (diff) | |
| download | px4-firmware-829a317d23093894c3d8974cce887ab3c19eba08.tar.gz px4-firmware-829a317d23093894c3d8974cce887ab3c19eba08.tar.bz2 px4-firmware-829a317d23093894c3d8974cce887ab3c19eba08.zip | |
navigator: takeoff altitude fixed
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/navigator/mission.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 2e5047e2c..cf6a764bf 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -326,11 +326,12 @@ Mission::set_mission_items() takeoff_alt += _navigator->get_home_position()->alt; } + /* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */ if (_navigator->get_vstatus()->condition_landed) { takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get()); } else { - takeoff_alt = _navigator->get_home_position()->alt + _param_takeoff_alt.get(); + takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get()); } mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: takeoff to %.1fm above home", takeoff_alt - _navigator->get_home_position()->alt); |