Skip to content

Q
qgroundcontrol
Commit 120781ae authored by Don Gagne's avatar Don Gagne
Browse files
Options

Validation handled by ui

parent 566167ab
Hide whitespace changes
Inline Side-by-side
Showing with 1 addition and 9 deletions
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ 120781ae
...@@ -435,16 +435,8 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu ...@@ -435,16 +435,8 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
return; return;
} }
// Don't allow altitude to fall below 3 meters above home
double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble(); double currentAltRel = vehicle->altitudeRelative()->rawValue().toDouble();
double newAltRel = currentAltRel; double newAltRel = currentAltRel + altitudeChange;
if (altitudeChange <= 0 && currentAltRel <= 3) {
return;
}
if (currentAltRel + altitudeChange < 3) {
altitudeChange = 3 - currentAltRel;
}
newAltRel = currentAltRel + altitudeChange;
vehicle->sendMavCommand(vehicle->defaultComponentId(), vehicle->sendMavCommand(vehicle->defaultComponentId(),
MAV_CMD_DO_REPOSITION, MAV_CMD_DO_REPOSITION,
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment