Added parameter NAV_TAKEOFF_GAP

src/modules/commander/commander_params.c

@@ -46,6 +46,7 @@
 #include <systemlib/param/param.h>
 
 PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 5.0f);
+PARAM_DEFINE_FLOAT(NAV_TAKEOFF_GAP, 3.0f);
 PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
 PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
 PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);

src/modules/multirotor_pos_control/multirotor_pos_control.c

@@ -424,7 +424,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
 					if (reset_auto_pos) {
 						local_pos_sp.x = local_pos.x;
 						local_pos_sp.y = local_pos.y;
-						local_pos_sp.z = - params.takeoff_alt - 3.0f;
+						local_pos_sp.z = - params.takeoff_alt - params.takeoff_gap;
 						local_pos_sp.yaw = att.yaw;
 						local_pos_sp_valid = true;
 						att_sp.yaw_body = att.yaw;

src/modules/multirotor_pos_control/multirotor_pos_control_params.c

@@ -60,6 +60,7 @@ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);
 int parameters_init(struct multirotor_position_control_param_handles *h)
 {
 	h->takeoff_alt = param_find("NAV_TAKEOFF_ALT");
+	h->takeoff_gap = param_find("NAV_TAKEOFF_GAP");
 	h->thr_min 	=	param_find("MPC_THR_MIN");
 	h->thr_max 	=	param_find("MPC_THR_MAX");
 	h->z_p 	=	param_find("MPC_Z_P");
@@ -85,7 +86,8 @@ int parameters_init(struct multirotor_position_control_param_handles *h)
 
 int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p)
 {
-	param_get(h->takeoff_alt,&(p->takeoff_alt));
+	param_get(h->takeoff_alt, &(p->takeoff_alt));
+	param_get(h->takeoff_gap, &(p->takeoff_gap));
 	param_get(h->thr_min, &(p->thr_min));
 	param_get(h->thr_max, &(p->thr_max));
 	param_get(h->z_p, &(p->z_p));

src/modules/multirotor_pos_control/multirotor_pos_control_params.h

@@ -41,7 +41,8 @@
 #include <systemlib/param/param.h>
 
 struct multirotor_position_control_params {
-    float takeoff_alt;
+	float takeoff_alt;
+	float takeoff_gap;
 	float thr_min;
 	float thr_max;
 	float z_p;
@@ -64,7 +65,8 @@ struct multirotor_position_control_params {
 };
 
 struct multirotor_position_control_param_handles {
-    param_t takeoff_alt;
+	param_t takeoff_alt;
+	param_t takeoff_gap;
 	param_t thr_min;
 	param_t thr_max;
 	param_t z_p;