diff options
| -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); |