VTOL: fix quad-chute max altitude limit

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -249,13 +249,13 @@ PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
 PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
 
 /**
- * Quadchute maximum height.
+ * Quadchute maximum height
  *
  * Maximum height above the ground (if available, otherwhise above home if available, otherwise above the local origin) where triggering a quadchute is possible.
  * Triggering a quadchute always means transitioning the vehicle to hover flight in which generally a lot of energy is consumed.
  * At high altitudes there is therefore a big risk to deplete the battery and therefore crash. Currently, there is no automated
  * re-transition to fixed wing mode implemented and therefore this parameter serves and an intermediate measure to increase safety.
- * Setting this value to 0 deactivates the behavior.
+ * Setting this value to 0 deactivates the behavior (always enable quad-chute independently of altitude).
  *
  * @unit m
  * @min 0

src/modules/vtol_att_control/vtol_type.cpp

@@ -228,9 +228,12 @@ bool VtolType::isQuadchuteEnabled()
 
 	}
 
+	const bool above_quadchute_altitude_limit = _param_quadchute_max_height.get() > 0
+			&& dist_to_ground > (float)_param_quadchute_max_height.get();
+
 	return _v_control_mode->flag_armed &&
-	       !_land_detected->landed && _param_quadchute_max_height.get() > 0 &&
-	       dist_to_ground < (float)_param_quadchute_max_height.get();
+	       !_land_detected->landed && !above_quadchute_altitude_limit;
+
 }
 
 bool VtolType::isMinAltBreached()