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Plane: set_takeoff_expected should only get set when not flying

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Andrew Tridgell 2021-05-29 11:07:54 +10:00 committed by Randy Mackay
parent 3a1d2f1852
commit 062a15ce11
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/servos.cpp
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@ -561,7 +561,7 @@ void Plane::set_servos_controlled(void)
// let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated
const float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (arming.is_armed()) {
if (!is_flying() && arming.is_armed()) {
// Check if rate of change of velocity along X axis exceeds 1-g which normally indicates a throw.
// Tests with hand carriage of micro UAS indicates that a 1-g threshold does not false trigger prior
// to the throw, but there is margin to increase this threshold if false triggering becomes problematic.