From 287614b415f917b61b0a67f903c5a7399ce79b9d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 23 Jan 2017 10:37:16 +1100
Subject: [PATCH] Plane: fixed auto-takeoff throttle trigger for inverted
 launch

quite an unusual setup, but has been done :-)
---
 ArduPlane/takeoff.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index b3b652d829..7704bc884d 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -61,7 +61,7 @@ bool Plane::auto_takeoff_check(void)
     // Check aircraft attitude for bad launch
     if (ahrs.pitch_sensor <= -3000 ||
         ahrs.pitch_sensor >= 4500 ||
-        labs(ahrs.roll_sensor) > 3000) {
+        (!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) {
         gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Bad launch AUTO");
         goto no_launch;
     }