From bbc721917c65f2955e8bde5f9c70abab07294dc6 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 21 Feb 2021 16:40:38 -0500 Subject: [PATCH] mavlink: mission ignore takeoff pitch error - this mission rejection was only added recently in https://github.com/PX4/PX4-Autopilot/pull/16792 - causing QGC compatibility issues https://github.com/mavlink/qgroundcontrol/pull/9464 --- src/modules/mavlink/mavlink_mission.cpp | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index c823487da2e6..5c038f0c500f 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -1338,16 +1338,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * break; case MAV_CMD_NAV_TAKEOFF: - - // reject takeoff item if minimum pitch (parameter 1) is set - if (PX4_ISFINITE(mavlink_mission_item->param1) && (fabsf(mavlink_mission_item->param1) > FLT_EPSILON)) { - _mavlink->send_statustext_critical("Takeoff rejected, remove deprecated minimum pitch"); - return MAV_MISSION_INVALID_PARAM1; - - } else { - mission_item->nav_cmd = NAV_CMD_TAKEOFF; - mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); - } + mission_item->nav_cmd = NAV_CMD_TAKEOFF; + mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4)); break;