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This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 0797c7fc21
commit 01e971b342
8 changed files with 124 additions and 93 deletions
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src/modules/navigator/mission_block.cpp
+1 -1
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@@ -453,7 +453,7 @@ MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clea
item->lon = target.lon;
item->altitude = target.alt;
if (min_clearance > 0.0f && item->altitude < _navigator->get_home_position()->alt + min_clearance) {
if (((min_clearance > 0.0f) && (item->altitude < _navigator->get_home_position()->alt + min_clearance)) || PX4_ISFINITE(target.alt)) {
item->altitude = _navigator->get_home_position()->alt + min_clearance;
}
}