FW Takeoff: fix loiter altitude not set in some cases

ryanjAA · web-flow · commit f98fdbc45249 · 2026-01-16T17:32:15.000+01:00
* Fix Takeoff mode to respect MIS_TAKEOFF_ALT

Takeoff mode never transitions to hold after takeoff alt.

* style: run make format
diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
@@ -203,6 +203,8 @@ Takeoff::set_takeoff_position()
 	}
 
 	if (!PX4_ISFINITE(_loiter_altitude_msl)) {
+		_loiter_altitude_msl = takeoff_altitude_amsl;
+
 		if (_navigator->get_loiter_min_alt() > FLT_EPSILON) {
 			_loiter_altitude_msl = math::max(_loiter_altitude_msl, takeoff_altitude_amsl + _navigator->get_loiter_min_alt());
 

Original file line number	Diff line number	Diff line change
`@@ -203,6 +203,8 @@ Takeoff::set_takeoff_position()`
`203`	`203`	`}`
`204`	`204`
`205`	`205`	`if (!PX4_ISFINITE(_loiter_altitude_msl)) {`
	`206`	`+ _loiter_altitude_msl = takeoff_altitude_amsl;`
	`207`	`+`
`206`	`208`	`if (_navigator->get_loiter_min_alt() > FLT_EPSILON) {`
`207`	`209`	`_loiter_altitude_msl = math::max(_loiter_altitude_msl, takeoff_altitude_amsl + _navigator->get_loiter_min_alt());`
`208`	`210`