Plane: During takeoff keep limit at LEVEL_ROLL_LIMIT until rotate speed is reached.

5 years ago · db8aaeb63a
1 changed files with 1 additions and 1 deletions
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@ -137,7 +137,7 @@ void Plane::takeoff_calc_roll(void)
				@@ -137,7 +137,7 @@ void Plane::takeoff_calc_roll(void)
    const float lim1 = 5;    
    // at 15m allow for full roll
    const float lim2 = 15;
-    if (baro_alt < auto_state.baro_takeoff_alt+lim1) {
+    if ((baro_alt < auto_state.baro_takeoff_alt+lim1) || (auto_state.highest_airspeed < g.takeoff_rotate_speed)) {
        roll_limit = g.level_roll_limit;
    } else if (baro_alt < auto_state.baro_takeoff_alt+lim2) {
        float proportion = (baro_alt - (auto_state.baro_takeoff_alt+lim1)) / (lim2 - lim1);