vtol_takeoff: store altitude on takeoff and don't use home position a…

…ltitude as vehicle does not need to be close to home position Signed-off-by: RomanBapst <[email protected]>
PX4 · Jan 22, 2025 · 57fdda5 · 57fdda5
1 parent ee150a1
commit 57fdda5
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/src/modules/navigator/vtol_takeoff.cpp b/src/modules/navigator/vtol_takeoff.cpp
@@ -118,7 +118,7 @@ VtolTakeoff::on_active()
 				_mission_item.time_inside = 1.f;
 				_mission_item.loiter_radius = _navigator->get_loiter_radius();
 				_mission_item.acceptance_radius  = _navigator->get_acceptance_radius();
-				_mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get();
+				_mission_item.altitude = _takeoff_alt_msl + _param_loiter_alt.get();
 
 				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
 				pos_sp_triplet->current.lat = _loiter_location(0);
@@ -170,6 +170,8 @@ VtolTakeoff::set_takeoff_position()
 	// set current mission item to takeoff
 	set_takeoff_item(&_mission_item, _transition_alt_amsl);
 
+	_takeoff_alt_msl = _navigator->get_global_position()->alt;
+
 	_mission_item.lat = _navigator->get_global_position()->lat;
 	_mission_item.lon = _navigator->get_global_position()->lon;
 

diff --git a/src/modules/navigator/vtol_takeoff.h b/src/modules/navigator/vtol_takeoff.h
@@ -70,6 +70,7 @@ class VtolTakeoff : public MissionBlock, public ModuleParams
 	} _takeoff_state;
 
 	float _transition_alt_amsl{0.f};	// absolute altitude at which vehicle will transition to forward flight
+	float _takeoff_alt_msl{0.f};
 	matrix::Vector2d _loiter_location;
 	float _loiter_height{0};