diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp index 7d0f089bc2..d8f97342f4 100644 --- a/ArduPlane/commands.cpp +++ b/ArduPlane/commands.cpp @@ -51,7 +51,6 @@ void Plane::set_next_WP(const struct Location &loc) // location as the previous waypoint, to prevent immediately // considering the waypoint complete if (current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) { - gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint"); prev_WP_loc = current_loc; } diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 206cbcdb68..d4af5ca78f 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -2823,9 +2823,10 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd) const uint32_t now = millis(); - // reset takeoff start time if we aren't armed, as we won't have made any progress + // reset takeoff if we aren't armed if (!hal.util->get_soft_armed()) { - takeoff_start_time_ms = now; + do_vtol_takeoff(cmd); + return false; } if (now - takeoff_start_time_ms < 3000 &&