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Plane: allow takeoff in guided then fw loiter

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this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
This commit is contained in:
Andrew Tridgell 2017-09-18 10:19:48 +10:00
parent f829f5615b
commit 6e78d2af5a
1 changed files with 0 additions and 4 deletions
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4
ArduPlane/quadplane.cpp
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@ -2387,10 +2387,6 @@ bool QuadPlane::do_user_takeoff(float takeoff_altitude)
gcs().send_text(MAV_SEVERITY_INFO, "Must be armed for takeoff"); gcs().send_text(MAV_SEVERITY_INFO, "Must be armed for takeoff");
return false; return false;
} }
if (guided_mode == 0) {
gcs().send_text(MAV_SEVERITY_INFO, "Q_GUIDED_MODE must be set to 1");
return false;
}
if (is_flying()) { if (is_flying()) {
gcs().send_text(MAV_SEVERITY_INFO, "Already flying - no takeoff"); gcs().send_text(MAV_SEVERITY_INFO, "Already flying - no takeoff");
return false; return false;