From 4e4f5a7ac96400771a8dd301cc83f8031ff1b0bf Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 10 Feb 2017 19:48:32 +1100 Subject: [PATCH] Plane: allow tailsitters to takeoff with any attitude --- ArduPlane/takeoff.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp index 7704bc884d..053e6270de 100644 --- a/ArduPlane/takeoff.cpp +++ b/ArduPlane/takeoff.cpp @@ -58,12 +58,14 @@ bool Plane::auto_takeoff_check(void) goto no_launch; } - // Check aircraft attitude for bad launch - if (ahrs.pitch_sensor <= -3000 || - ahrs.pitch_sensor >= 4500 || - (!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) { - gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Bad launch AUTO"); - goto no_launch; + if (!is_tailsitter()) { + // Check aircraft attitude for bad launch + if (ahrs.pitch_sensor <= -3000 || + ahrs.pitch_sensor >= 4500 || + (!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) { + gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Bad launch AUTO"); + goto no_launch; + } } // Check ground speed and time delay