MulticopterPositionControl: allow offboard takeoff also when not landed

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -419,8 +419,8 @@ void MulticopterPositionControl::Run()
 
 			if (_vehicle_control_mode.flag_control_offboard_enabled) {
 
-				bool want_takeoff = _vehicle_control_mode.flag_armed && _vehicle_land_detected.landed
+				const bool want_takeoff = _vehicle_control_mode.flag_armed
-						    && (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s);
+							  && (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s);
 
 				if (want_takeoff && PX4_ISFINITE(_setpoint.z)
 				    && (_setpoint.z < states.position(2))) {
@@ -536,7 +536,7 @@ void MulticopterPositionControl::Run()
 			_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
 
 		} else {
-			// an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes
+			// an update is necessary here because otherwise the takeoff state doesn't get skipped with non-altitude-controlled modes
 			_takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true,
 						    vehicle_local_position.timestamp_sample);
 		}