Uncommon Bug: Drone dropping down when TRANSIT_NEW called.

[IseanB]

There are rare instances where the drone will unexpectedly drop down a few feet before taking on a new transit, from the TRANSIT_NEW command. Previously, this issue appeared when only using the IMU data to determine the current position of the drone. The fix to this was using a topic from MAVROS that fused GPS and FCU data. This may stem from a similar problem of not updating the position correctly.

Potential Fixes:

• Changing how the height of the drone is determined. Using a laser pointed toward the ground and calculating the height, rather than GPS & FCU infused data.