mirror of https://github.com/ArduPilot/ardupilot
Plane: fixed minacc and delay for launch
See https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
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@ -32,7 +32,8 @@ bool Plane::auto_takeoff_check(void)
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}
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}
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// Check for launch acceleration if set. NOTE: relies on TECS 50Hz processing
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// Check for launch acceleration if set. NOTE: relies on TECS 50Hz processing
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if (!is_zero(g.takeoff_throttle_min_accel) &&
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if (!takeoff_state.launchTimerStarted &&
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!is_zero(g.takeoff_throttle_min_accel) &&
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SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
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SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
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goto no_launch;
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goto no_launch;
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}
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}
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