From dd7c47b7e37210a9f925992e8d564de8000f1832 Mon Sep 17 00:00:00 2001 From: asimopunov <50725049+asimopunov@users.noreply.github.com> Date: Wed, 18 Mar 2026 04:32:35 -0400 Subject: [PATCH] fix(precland): use home position for precland altitude (#21260) --- src/modules/navigator/precland.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp index e75db68629..a111bf75c9 100644 --- a/src/modules/navigator/precland.cpp +++ b/src/modules/navigator/precland.cpp @@ -412,10 +412,8 @@ bool PrecLand::switch_to_state_search() { PX4_INFO("Climbing to search altitude."); - vehicle_local_position_s *vehicle_local_position = _navigator->get_local_position(); - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - pos_sp_triplet->current.alt = vehicle_local_position->ref_alt + _param_pld_srch_alt.get(); + pos_sp_triplet->current.alt = _navigator->get_home_position()->alt + _param_pld_srch_alt.get(); pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; _navigator->set_position_setpoint_triplet_updated();