mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 10:50:19 +08:00
Thomas Gubler
5a35d20b7b
This introduces a parameter for the navigator. When enabled the navigator publishes a first order old (FOH) type altitude setpoint instead of the default zero order hold. For takeoff and landing the FOH mode is not active. The FOH altitude is calculated such that the sp reaches the altitude of the waypoint when the system is at a horizontal distance equal to the acceptance radius. Also the altitude setpoint will only converge towards the waypoint altitude but never diverge.