added false start fix for takeoff

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1896 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-04-16 20:43:47 +00:00 · 2011-04-16 20:43:47 +00:00 · 4ae6c5c0ac
parent b1d76e40c7
commit 4ae6c5c0ac
1 changed files with 5 additions and 0 deletions
--- 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;