From 304e00f15878c7967d9ce5b7ca8da6280db635cb Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Thu, 4 Oct 2018 15:43:38 +0200
Subject: [PATCH] ALTITUDE_THRESHOLD lower to 0.3 meters

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index c77a02aeb3..ca222093bc 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -161,7 +161,8 @@ private:
 	static constexpr int NUM_FAILURE_TRIES = 10;
 	/**< If Flighttask fails, keep 0.2 seconds the current setpoint before going into failsafe land */
 	static constexpr uint64_t LOITER_TIME_BEFORE_DESCEND = 200000;
-
+	/**< During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off ant tilt is limited */
+	static constexpr float ALTITUDE_THRESHOLD = 0.3f;
 
 	/**
 	 * Hysteresis that turns true once vehicle is armed for MPC_IDLE_TKO seconds.
-- 
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