From 6466912ac0569fdb602a7b5644d9c422b4733a4e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 1 Aug 2020 20:31:53 +1000 Subject: [PATCH] Plane: don't crosstrack after AUTO VTOL takeoff --- ArduPlane/quadplane.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index ac9d0d1e86..5fa12df38b 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -2762,7 +2762,10 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd) // takeoff height. plane.SpdHgt_Controller->reset(); } - + + // don't crosstrack on next WP + plane.auto_state.next_wp_crosstrack = false; + return true; }