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fix qgc flow takeoff -> use min takeoff alt if no home position

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ChristophTobler 2017-05-10 09:05:39 +02:00 committed by ChristophTobler
parent cdd7c57ded
commit 680cebcb08
1 changed files with 10 additions and 3 deletions
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13
src/modules/navigator/takeoff.cpp
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@ -104,10 +104,17 @@ Takeoff::set_takeoff_position()
float abs_altitude = 0.0f;
const float min_abs_altitude = _navigator->get_home_position()->alt + _param_min_alt.get();
float min_abs_altitude;
// Use altitude if it has been set.
if (rep->current.valid && PX4_ISFINITE(rep->current.alt)) {
if (_navigator->home_position_valid()) { //only use home position if it is valid
min_abs_altitude = _navigator->get_global_position()->alt + _param_min_alt.get();
} else { //e.g. flow
min_abs_altitude = _param_min_alt.get();
}
// Use altitude if it has been set. If home position is invalid use min_abs_altitude
if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_position_valid()) {
abs_altitude = rep->current.alt;
// If the altitude suggestion is lower than home + minimum clearance, raise it and complain.