From 4ae6c5c0ac81c5a85e0faa61ffa83660ebbe3a09 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 16 Apr 2011 20:43:47 +0000
Subject: [PATCH] added false start fix for takeoff

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1896 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/commands_logic.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopterMega/commands_logic.pde b/ArduCopterMega/commands_logic.pde
index 7b31bbdb19..fafa611e34 100644
--- a/ArduCopterMega/commands_logic.pde
+++ b/ArduCopterMega/commands_logic.pde
@@ -285,6 +285,11 @@ void do_loiter_time()
 bool verify_takeoff()
 {
 	Serial.print("vt ");
+
+	// wait until we are ready!
+	if(g.rc_3.control_in == 0)
+		return false;
+
 	if (current_loc.alt > next_WP.alt){
 		Serial.println("Y");
 		takeoff_complete = true;