Copter: tighten auto_takeoff_complete checks

ArduCopter/takeoff.cpp

@@ -180,7 +180,7 @@ void Mode::auto_takeoff_run()
 
     // handle takeoff completion
     bool reached_altitude = (copter.pos_control->get_pos_target_z_cm() - auto_take_off_start_alt_cm) >= ((auto_take_off_complete_alt_cm  - auto_take_off_start_alt_cm) * 0.90);
-    bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * 0.5;
+    bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * 0.1;
     auto_takeoff_complete = reached_altitude && reached_climb_rate;
 
     // calculate completion for location in case it is needed for a smooth transition to wp_nav