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Remove relaying of maximum altitude through land detector

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This commit is contained in:
Matthias Grob
2021-12-01 11:26:46 +01:00
parent 2445fa8b4c
commit bbb04ab4b8
11 changed files with 15 additions and 40 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+2 -2
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@@ -501,14 +501,14 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
void FlightModeManager::limitAltitude(vehicle_local_position_setpoint_s &setpoint,
const vehicle_local_position_s &vehicle_local_position)
{
if (_vehicle_land_detected_sub.get().alt_max < 0.0f || !_home_position_sub.get().valid_alt
if (_param_lndmc_alt_max.get() < 0.0f || !_home_position_sub.get().valid_alt
|| !vehicle_local_position.z_valid || !vehicle_local_position.v_z_valid) {
// there is no altitude limitation present or the required information not available
return;
}
// maximum altitude == minimal z-value (NED)
const float min_z = _home_position_sub.get().z + (-_vehicle_land_detected_sub.get().alt_max);
const float min_z = _home_position_sub.get().z + (-_param_lndmc_alt_max.get());
if (vehicle_local_position.z < min_z) {
// above maximum altitude, only allow downwards flight == positive vz-setpoints (NED)