From f98fdbc452496afbd614fdc2f3982284203077fa Mon Sep 17 00:00:00 2001
From: Ryan Johnston <31726584+ryanjAA@users.noreply.github.com>
Date: Fri, 16 Jan 2026 10:32:15 -0600
Subject: [PATCH] FW Takeoff: fix loiter altitude not set in some cases

* Fix Takeoff mode to respect MIS_TAKEOFF_ALT

Takeoff mode never transitions to hold after takeoff alt.

* style: run make format
---
 src/modules/navigator/takeoff.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
index 618108ca4b..eddcfa5cf9 100644
--- a/src/modules/navigator/takeoff.cpp
+++ b/src/modules/navigator/takeoff.cpp
@@ -203,6 +203,8 @@ Takeoff::set_takeoff_position()
 	}
 
 	if (!PX4_ISFINITE(_loiter_altitude_msl)) {
+		_loiter_altitude_msl = takeoff_altitude_amsl;
+
 		if (_navigator->get_loiter_min_alt() > FLT_EPSILON) {
 			_loiter_altitude_msl = math::max(_loiter_altitude_msl, takeoff_altitude_amsl + _navigator->get_loiter_min_alt());