From c6b0d5c76a2b169838ef8ece3f7951a9b81b179c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 7 May 2018 13:31:24 +0200 Subject: [PATCH] navigator: don't complain 'Using minimum takeoff altitude' in case of numerical inaccuracies Happend in SITL. --- src/modules/navigator/takeoff.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp index 7b613edd7e..ff729f3307 100644 --- a/src/modules/navigator/takeoff.cpp +++ b/src/modules/navigator/takeoff.cpp @@ -96,9 +96,12 @@ Takeoff::set_takeoff_position() // If the altitude suggestion is lower than home + minimum clearance, raise it and complain. if (abs_altitude < min_abs_altitude) { + if (abs_altitude < min_abs_altitude - 0.1f) { // don't complain if difference is smaller than 10cm + mavlink_log_critical(_navigator->get_mavlink_log_pub(), + "Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt()); + } + abs_altitude = min_abs_altitude; - mavlink_log_critical(_navigator->get_mavlink_log_pub(), - "Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt()); } } else {