def takeoff(self, z, delay=0, wait=True):
        diff = z - self.currentPoseZ
        while not abs(diff)<0.2:
            diff = z - self.currentPoseZ
            if diff>0:
                self.setPose(self.currentPoseX,self.currentPoseY,self.currentPoseZ + 1, 0, False)
            else:
                self.setPose(self.currentPoseX,self.currentPoseY,self.currentPoseZ - 0.1, 0, False)