From 5642d2449a9483039406a709c72e64c4f1425909 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 10 Dec 2023 17:42:34 +0000
Subject: [PATCH] Plane: allow set_takeoff_expected in manual mode

---
 ArduPlane/servos.cpp | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 51a28e1ee3..35dc8b0801 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -472,13 +472,8 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
 /*
   setup output channels all non-manual modes
  */
-void Plane::set_servos_controlled(void)
+void Plane::set_throttle(void)
 {
-    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
-        // allow landing to override servos if it would like to
-        landing.override_servos();
-    }
-
     // convert 0 to 100% (or -100 to +100) into PWM
     int8_t min_throttle = aparm.throttle_min.get();
     int8_t max_throttle = aparm.throttle_max.get();
@@ -836,9 +831,11 @@ void Plane::set_servos(void)
 
     if (control_mode != &mode_manual) {
         set_throttle();
-        set_takeoff_expected();
     }
 
+    // Warn AHRS if we might take off soon
+    set_takeoff_expected();
+
     // setup flap outputs
     set_servos_flaps();