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navigator: ignore min altitude on MC, loiter always at current altitude

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Anton Babushkin
2014-02-16 19:34:44 +01:00
parent a6af669399
commit 92578e1fc3
1 changed files with 1 additions and 1 deletions
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src/modules/navigator/navigator_main.cpp
+1 -1
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@@ -1059,7 +1059,7 @@ Navigator::start_loiter()
float min_alt_amsl = _parameters.min_altitude + _home_pos.alt;
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl) {
if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
_pos_sp_triplet.current.alt = min_alt_amsl;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));