PX4FirmwarePlugin: ignore minimum takeoff altitude

The old behaviour adjusts the takeoff altitude set by the user with a
slider to be higher than the minimum takeoff altitude as definied by the
param MIS_TAKEOFF_ALT. This can be very confusing (and dangerous) as the
slider to enter the altitude does not reflect that. It always goes from
0m to 100m.
For example: the param is set to 10m. Now the user can command a takeoff
and set the slider to 1.5m. The drone will then takeoff and climb to 10m
completely without warning

I don't think it makes much sense to magically change the user input
without feedback. Therefore, I removed the adjustment.
With this change the drone will just go to the altitude commanded by the
slider.

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -389,17 +389,6 @@ void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int comm
     }
 }
 
-double PX4FirmwarePlugin::minimumTakeoffAltitude(Vehicle* vehicle)
-{
-    QString takeoffAltParam("MIS_TAKEOFF_ALT");
-
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
-        return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble();
-    } else {
-        return FirmwarePlugin::minimumTakeoffAltitude(vehicle);
-    }
-}
-
 void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel)
 {
     double vehicleAltitudeAMSL = vehicle->altitudeAMSL()->rawValue().toDouble();
@@ -408,10 +397,7 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel
         return;
     }
 
-    double takeoffAltRelFromVehicle = minimumTakeoffAltitude(vehicle);
-    double takeoffAltAMSL = qMax(takeoffAltRel, takeoffAltRelFromVehicle) + vehicleAltitudeAMSL;
-
-    qDebug() << takeoffAltRel << takeoffAltRelFromVehicle << takeoffAltAMSL << vehicleAltitudeAMSL;
+    double takeoffAltAMSL = takeoffAltRel + vehicleAltitudeAMSL;
 
     connect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult);
     vehicle->sendMavCommand(

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -48,7 +48,6 @@ public:
     void                guidedModeTakeoff               (Vehicle* vehicle, double takeoffAltRel) override;
     void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
     void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel, bool pauseVehicle) override;
-    double              minimumTakeoffAltitude          (Vehicle* vehicle) override;
     void                startMission                    (Vehicle* vehicle) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
     void                initializeVehicle               (Vehicle* vehicle) override;