Copter: bug fix for take-off so it never descends

If copter was already flying when take-off command was received it could descend to the target altitude if it was below the current altitude.
12 years ago · d65d7d95e2
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@ -245,7 +245,7 @@ static void do_takeoff()
    // Set wp navigation target to safe altitude above current position
    Vector3f pos = inertial_nav.get_position();
-    pos.z = command_nav_queue.alt;
+    pos.z = max(pos.z, command_nav_queue.alt);
    wp_nav.set_destination(pos);
    // prevent flips