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Fix Smooth Takeoff#12001

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MaEtUgR wants to merge 6 commits intomasterPX4/PX4-Autopilot:masterfrom fix-smooth-takeoffPX4/PX4-Autopilot:fix-smooth-takeoffCopy head branch name to clipboard

+62-73

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Commits on May 11, 2019

• mc_pos_control: refactor smooth takeoff call

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• mc_pos_control: refactor smooth takeoff names

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• mc_pos_control: fix smooth takeoff ramp

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• mc_pos_control: refactor takeoff trigger conditions to be positive

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Commits on May 15, 2019

• mc_pos_control: initialize takeoff altitude reference

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  072f3bd

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• mc_att_control: fix having high thrust when disarmed

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