From 92578e1fc3a3b011aa361ecee65d1bcce1593f6b Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 16 Feb 2014 19:34:44 +0100 Subject: [PATCH] navigator: ignore min altitude on MC, loiter always at current altitude --- src/modules/navigator/navigator_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5952d667fe..577c767a86 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1059,7 +1059,7 @@ Navigator::start_loiter() float min_alt_amsl = _parameters.min_altitude + _home_pos.alt; /* use current altitude if above min altitude set by parameter */ - if (_global_pos.alt < min_alt_amsl) { + if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) { _pos_sp_triplet.current.alt = min_alt_amsl; mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));