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FW Takeoff: fix loiter altitude not set in some cases
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* Fix Takeoff mode to respect MIS_TAKEOFF_ALT

Takeoff mode never transitions to hold after takeoff alt.

* style: run make format
This commit is contained in:
Ryan Johnston
2026-01-16 10:32:15 -06:00
committed by Mahima Yoga
parent e841fe029a
commit 15f5fefa0c
1 changed files with 2 additions and 0 deletions
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src/modules/navigator/takeoff.cpp
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@@ -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());