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disable min loiter altitude

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This commit is contained in:
ChristophTobler
2017-06-15 09:18:35 +02:00
committed by Dennis Mannhart
parent 1c56cad3b1
commit bc406a122e
4 changed files with 23 additions and 9 deletions
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src/modules/navigator/mission_block.cpp
+8 -2
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@@ -571,9 +571,15 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
break;
case NAV_CMD_LOITER_TO_ALT:
// initially use current altitude, and switch to mission item altitude once in loiter position
sp->alt = math::max(_navigator->get_global_position()->alt,
_navigator->get_home_position()->alt + _param_loiter_min_alt.get());
if (_param_loiter_min_alt.get() > 0.0f) { // ignore _param_loiter_min_alt if smaller then 0 (-1)
sp->alt = math::max(_navigator->get_global_position()->alt,
_navigator->get_home_position()->alt + _param_loiter_min_alt.get());
} else {
sp->alt = _navigator->get_global_position()->alt;
}
// fall through
case NAV_CMD_LOITER_TIME_LIMIT: