From 09f4a16bfb700788c5c18776a86fc7b6673836e0 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Tue, 29 May 2012 11:19:28 -0700
Subject: [PATCH] changed the way takeoff complete is figured. Looking for high
 throttle.

---
 ArduCopter/ArduCopter.pde | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index fa8c716427..72c689344e 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1624,11 +1624,13 @@ void update_throttle_mode(void)
 				}
 				#endif
 
-				// Code to manage the Copter state
-				if ((millis() - takeoff_timer) > 5000){
-					// we must be in the air by now
-					takeoff_complete 	= true;
+				if (takeoff_complete == false && motors.armed()){
+					if ((g.rc_3.control_in > g.throttle_cruise)){
+						// we must be in the air by now
+						takeoff_complete = true;
+					}
 				}
+
 			}else{
 				// we are on the ground
 				takeoff_complete = false;