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Plane: Don't set takeoff expected until vehicle is armed.

c415-sdk
Paul Riseborough 4 years ago committed by Andrew Tridgell
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1 changed files with 1 additions and 1 deletions
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  1. 2
      ArduPlane/takeoff.cpp

2
ArduPlane/takeoff.cpp
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@ -61,7 +61,7 @@ bool Plane::auto_takeoff_check(void)
} }
// let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated // let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated
plane.ahrs.setTakeoffExpected(true); plane.ahrs.setTakeoffExpected(arming.is_armed());
// we've reached the acceleration threshold, so start the timer // we've reached the acceleration threshold, so start the timer
if (!takeoff_state.launchTimerStarted) { if (!takeoff_state.launchTimerStarted) {

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