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Takeoff: don't use Home altitude but current altitude

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If no altitude setpoint is specified then takeoff to the default
altitude above the current global position, not above Home.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-09-19 10:04:30 +02:00
parent de5b769093
commit 1cbaa78eba
1 changed files with 2 additions and 17 deletions
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src/modules/navigator/takeoff.cpp
+2 -17
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@@ -96,15 +96,6 @@ Takeoff::on_active()
void void
Takeoff::set_takeoff_position() Takeoff::set_takeoff_position()
{ {
if (!_navigator->home_alt_valid()) {
mavlink_log_info(_navigator->get_mavlink_log_pub(),
"Home altitude not valid, abort takeoff\t");
events::send(events::ID("navigator_takeoff_abort_no_valid_home_alt"), {events::LogLevel::Critical, events::LogInternal::Warning},
"Home altitude not valid, abort takeoff");
return;
}
struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet(); struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();
float takeoff_altitude_amsl = 0.f; float takeoff_altitude_amsl = 0.f;
@@ -112,16 +103,10 @@ Takeoff::set_takeoff_position()
if (rep->current.valid && PX4_ISFINITE(rep->current.alt)) { if (rep->current.valid && PX4_ISFINITE(rep->current.alt)) {
takeoff_altitude_amsl = rep->current.alt; takeoff_altitude_amsl = rep->current.alt;
// If the altitude suggestion is lower than home, notify and abort
if (takeoff_altitude_amsl < _navigator->get_home_position()->alt) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"abort takeoff \t");
}
} else { } else {
takeoff_altitude_amsl = _navigator->get_home_position()->alt + _navigator->get_param_mis_takeoff_alt(); takeoff_altitude_amsl = _navigator->get_global_position()->alt + _navigator->get_param_mis_takeoff_alt();
mavlink_log_info(_navigator->get_mavlink_log_pub(), mavlink_log_info(_navigator->get_mavlink_log_pub(),
"Using deault takeoff altitude: %.1f m\t", (double)_navigator->get_param_mis_takeoff_alt()); "Using default takeoff altitude: %.1f m\t", (double)_navigator->get_param_mis_takeoff_alt());
events::send<float>(events::ID("navigator_takeoff_default_alt"), {events::Log::Info, events::LogInternal::Info}, events::send<float>(events::ID("navigator_takeoff_default_alt"), {events::Log::Info, events::LogInternal::Info},
"Using default takeoff altitude: {1:.2m}", "Using default takeoff altitude: {1:.2m}",