From 69bc5d37bc7c0db9bbacb84e42b9f4f7554cd3c7 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Tue, 12 Jul 2022 15:50:39 +0200 Subject: [PATCH] fw pos ctrl: mark completed manual takeoff true if rotary wing and armed --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 4f0ff7c064..f59c75f447 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -725,8 +725,9 @@ FixedwingPositionControl::updateManualTakeoffStatus() if (!_completed_manual_takeoff) { const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get() || !_airspeed_valid; - _completed_manual_takeoff = !_landed - && at_controllable_airspeed; + const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING + && _control_mode.flag_armed; + _completed_manual_takeoff = (!_landed && at_controllable_airspeed) || is_hovering; } }