From 2655c72cea41bc450324afbcd268c6bc79423f27 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Mon, 12 Jun 2017 13:57:25 +0200 Subject: [PATCH] mission: remove altitude foh for rotarywing --- src/modules/navigator/mission.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 2c7bd166e7..eace84a075 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -1119,8 +1119,10 @@ Mission::altitude_sp_foh_update() pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy; } - // we set altitude directly so we can run this in parallel to the heading update - _navigator->set_position_setpoint_triplet_updated(); + if (!_navigator->get_vstatus()->is_rotary_wing) { + // we set altitude directly so we can run this in parallel to the heading update + _navigator->set_position_setpoint_triplet_updated(); + } } void