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mavlink: mission ignore takeoff pitch error

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- this mission rejection was only added recently in https://github.com/PX4/PX4-Autopilot/pull/16792
 - causing QGC compatibility issues https://github.com/mavlink/qgroundcontrol/pull/9464
This commit is contained in:
Daniel Agar
2021-02-21 16:40:38 -05:00
committed by GitHub
parent bfc019364a
commit bbc721917c
1 changed files with 2 additions and 10 deletions
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src/modules/mavlink/mavlink_mission.cpp
+2 -10
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@@ -1338,16 +1338,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
break;
case MAV_CMD_NAV_TAKEOFF:
// reject takeoff item if minimum pitch (parameter 1) is set
if (PX4_ISFINITE(mavlink_mission_item->param1) && (fabsf(mavlink_mission_item->param1) > FLT_EPSILON)) {
_mavlink->send_statustext_critical("Takeoff rejected, remove deprecated minimum pitch");
return MAV_MISSION_INVALID_PARAM1;
} else {
mission_item->nav_cmd = NAV_CMD_TAKEOFF;
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
}
mission_item->nav_cmd = NAV_CMD_TAKEOFF;
mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
break;