From 37b6dccda90067b291072d05f4665f4e4727cd4b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 15 Feb 2023 10:30:09 +0100 Subject: [PATCH] Land: use MIS_LND_ABRT_ALT also in non-mission Land As we don't know the landing point altitude in non-mission landings, assume the worst case (abort right before touchdown) and thus always climb MIS_LND_ABRT_ALT on triggering an abort. Signed-off-by: Silvan Fuhrer --- src/modules/navigator/land.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp index ca6b6da426..28ffd36d07 100644 --- a/src/modules/navigator/land.cpp +++ b/src/modules/navigator/land.cpp @@ -106,7 +106,9 @@ Land::on_active() vcmd.param2 = 1; vcmd.param5 = _navigator->get_global_position()->lat; vcmd.param6 = _navigator->get_global_position()->lon; - vcmd.param7 = _navigator->get_global_position()->alt; + // as we don't know the landing point altitude assume the worst case (abort at 0m above ground), + // and thus always climb MIS_LND_ABRT_ALT + vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt(); _navigator->publish_vehicle_cmd(&vcmd); }