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fixing possible safety issue with altitude

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This commit is contained in:
Jimmy Johnson 2016-03-26 07:33:40 -07:00 committed by Lorenz Meier
parent ed2029b5d4
commit fbd2edaae5
1 changed files with 5 additions and 3 deletions
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8
src/modules/navigator/mission_block.cpp
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@ -449,10 +449,12 @@ MissionBlock::set_follow_target_item(struct mission_item_s *item, float min_clea
item->lat = target.lat;
item->lon = target.lon;
item->altitude = target.alt + _navigator->get_home_position()->alt;
item->altitude = _navigator->get_home_position()->alt;
if (((min_clearance > 0.0f) && (item->altitude < _navigator->get_home_position()->alt + min_clearance)) || PX4_ISFINITE(target.alt)) {
item->altitude = _navigator->get_home_position()->alt + min_clearance;
if (min_clearance > 0.0f) {
item->altitude += min_clearance;
} else {
item->altitude += 8.0f; // if min clearance is bad set it to 8.0 meters (well above the average height of a person)
}
}