From 8afd8c816c1f94496dd3cdb101d3392ca7e9ec94 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommmy.persson@liu.se>
Date: Sun, 19 Sep 2021 15:05:40 +0200
Subject: [PATCH] Added takeoff height parameter to leashing_point.

---
 src/pyutil/jsonutil.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pyutil/jsonutil.py b/src/pyutil/jsonutil.py
index b0ed38c..dd39186 100644
--- a/src/pyutil/jsonutil.py
+++ b/src/pyutil/jsonutil.py
@@ -1323,14 +1323,14 @@ def json_leashing_pose(ns, posetopic, use_alias=False):
     cobj["children"].append(json_basic_joy_trigger(ns, "/op0/joy",enough=nuuid, pause=nuuid, cont=nuuid, abort=nuuid, use_alias=use_alias))
     return jobj
 
-def json_leashing_point(ns, pointtopic, leashing_uuid="", fly_near=False, use_alias=False, use_lock=False, in_air_goal=False, speed=3.0):
+def json_leashing_point(ns, pointtopic, leashing_uuid="", fly_near=False, use_alias=False, use_lock=False, in_air_goal=False, takeoff_height=15.0, speed=3.0):
     nuuid = leashing_uuid
     if nuuid == "":
         nuuid = str(uuid.uuid4())        
     jobj = json_basic_seq(ns, use_alias=use_alias)
 
     if in_air_goal:
-        jobj["children"].append(json_basic_in_air_goal(ns, use_alias=use_alias, use_lock=use_lock))
+        jobj["children"].append(json_basic_in_air_goal(ns, use_alias=use_alias, use_lock=use_lock, height=takeoff_height))
 
     if fly_near:
         jobj["children"].append(json_basic_fly_near_topic(ns, pointtopic, "", 5.0, speed, use_alias=use_alias))
-- 
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