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fix(precland): use home position for precland altitude (#21260)

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asimopunov
2026-03-18 04:32:35 -04:00
committed by GitHub
parent 0ac48b663c
commit dd7c47b7e3
1 changed files with 1 additions and 3 deletions
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src/modules/navigator/precland.cpp
+1 -3
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@@ -412,10 +412,8 @@ bool
PrecLand::switch_to_state_search() PrecLand::switch_to_state_search()
{ {
PX4_INFO("Climbing to search altitude."); 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(); 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; pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
_navigator->set_position_setpoint_triplet_updated(); _navigator->set_position_setpoint_triplet_updated();