{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/4705","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/4705/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/4705/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/4705/events","html_url":"https://github.com/PX4/Firmware/issues/4705","id":157730982,"number":4705,"title":"TakeOff via MAVLink command: Altitude command param vs. vehicle parameter","user":{"login":"ecmnet","id":7580193,"avatar_url":"https://avatars.githubusercontent.com/u/7580193?v=3","gravatar_id":"","url":"https://api.github.com/users/ecmnet","html_url":"https://github.com/ecmnet","followers_url":"https://api.github.com/users/ecmnet/followers","following_url":"https://api.github.com/users/ecmnet/following{/other_user}","gists_url":"https://api.github.com/users/ecmnet/gists{/gist_id}","starred_url":"https://api.github.com/users/ecmnet/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ecmnet/subscriptions","organizations_url":"https://api.github.com/users/ecmnet/orgs","repos_url":"https://api.github.com/users/ecmnet/repos","events_url":"https://api.github.com/users/ecmnet/events{/privacy}","received_events_url":"https://api.github.com/users/ecmnet/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-05-31T17:50:47Z","updated_at":"2016-06-03T04:49:28Z","closed_at":null,"body":"Sending the MAVLink command MAV_CMD_NAV_TAKEOFF with param7 (altitude set point), it seems not to be clear which altitude should be the target. Although the SP is set to value provided with the command, takeoff takes place considering the global vehicle parameter MIS_TAKEOFF_ALT in the first phase. Then, after some time, the SP provided is considered and the vehicle adjusts its altitude accordingly. This could result in a massive overshoot. Setting MIS_TAKEOFF_ALT to 0.0 solves that issue and the param7 of the command is considered as TakeOff-Altitude.\r\n\r\nSITL Example: MIS_TAKEOFF_ALT is set to 10m; Param7 is set to ground altitude + 1:\r\n\r\n![chart](https://cloud.githubusercontent.com/assets/7580193/15684752/c7ba3170-2768-11e6-9c49-f27f325449ad.png)\r\n"},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/223490033","html_url":"https://github.com/PX4/Firmware/issues/4705#issuecomment-223490033","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/4705","id":223490033,"user":{"login":"ecmnet","id":7580193,"avatar_url":"https://avatars.githubusercontent.com/u/7580193?v=3","gravatar_id":"","url":"https://api.github.com/users/ecmnet","html_url":"https://github.com/ecmnet","followers_url":"https://api.github.com/users/ecmnet/followers","following_url":"https://api.github.com/users/ecmnet/following{/other_user}","gists_url":"https://api.github.com/users/ecmnet/gists{/gist_id}","starred_url":"https://api.github.com/users/ecmnet/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ecmnet/subscriptions","organizations_url":"https://api.github.com/users/ecmnet/orgs","repos_url":"https://api.github.com/users/ecmnet/repos","events_url":"https://api.github.com/users/ecmnet/events{/privacy}","received_events_url":"https://api.github.com/users/ecmnet/received_events","type":"User","site_admin":false},"created_at":"2016-06-03T04:49:28Z","updated_at":"2016-06-03T04:49:28Z","body":"@jgoppert This seems to be LPE related. EKF2 SITL does not show this effect at all. Any idea?"}}
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