Navigator: taking off now on takeoff command, but not yet holding altitude once completed.

src/modules/navigator/mission_block.cpp

@@ -289,3 +289,29 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
 		item->origin = ORIGIN_ONBOARD;
 	}
 }
+
+void
+MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
+{
+	item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+
+	/* use current position and use return altitude as clearance */
+	item->lat = _navigator->get_global_position()->lat;
+	item->lon = _navigator->get_global_position()->lon;
+	item->altitude = _navigator->get_global_position()->alt;
+
+	if (min_clearance > 0.0f) {
+		item->altitude += min_clearance;
+	}
+
+	item->altitude_is_relative = false;
+	item->yaw = NAN;
+	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_direction = 1;
+	item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
+					(min_clearance / 2) : _navigator->get_acceptance_radius();
+	item->time_inside = 0.0f;
+	item->pitch_min = min_pitch;
+	item->autocontinue = false;
+	item->origin = ORIGIN_ONBOARD;
+}

src/modules/navigator/mission_block.h

@@ -96,6 +96,11 @@ protected:
 	 */
 	void set_loiter_item(struct mission_item_s *item, float min_clearance = -1.0f);
 
+	/**
+	 * Set a takeoff mission item
+	 */
+	void set_takeoff_item(struct mission_item_s *item, float min_clearance = -1.0f, float min_pitch = 0.0f);
+
 	mission_item_s _mission_item;
 	bool _waypoint_position_reached;
 	bool _waypoint_yaw_reached;

src/modules/navigator/takeoff.cpp

@@ -74,12 +74,13 @@ void
 Takeoff::on_activation()
 {
 	/* set current mission item to Takeoff */
-	set_loiter_item(&_mission_item, _param_min_alt.get());
+	set_takeoff_item(&_mission_item, _param_min_alt.get());
 
 	/* convert mission item to current setpoint */
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 	pos_sp_triplet->previous.valid = false;
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
 	pos_sp_triplet->next.valid = false;
 
 	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);