From 120781ae2e5971c87a813ee86b98726c938659ac Mon Sep 17 00:00:00 2001
From: Don Gagne <Don@laptop-3.local>
Date: Sun, 14 May 2017 15:54:37 -0700
Subject: [PATCH] Validation handled by ui

---
 src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 161f8b77a..fdcda8958 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -435,16 +435,8 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
         return;
     }
 
-    // Don't allow altitude to fall below 3 meters above home
     double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble();
-    double newAltRel = currentAltRel;
-    if (altitudeChange <= 0 && currentAltRel <= 3) {
-        return;
-    }
-    if (currentAltRel + altitudeChange < 3) {
-        altitudeChange = 3 - currentAltRel;
-    }
-    newAltRel = currentAltRel + altitudeChange;
+    double newAltRel = currentAltRel + altitudeChange;
 
     vehicle->sendMavCommand(vehicle->defaultComponentId(),
                             MAV_CMD_DO_REPOSITION,
-- 
2.22.0