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Plane: update takeoff course when conditions met

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This allows for change of heading before the final takeoff conditions
are met

thanks to Greg Fletcher for suggesting this
This commit is contained in:
Andrew Tridgell 2013-07-01 17:05:13 +10:00
parent fff777bda2
commit 75ef7c26e1
1 changed files with 5 additions and 0 deletions
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5
ArduPlane/Attitude.pde
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@ -440,6 +440,11 @@ static bool suppress_throttle(void)
if (control_mode==AUTO && takeoff_complete == false && auto_takeoff_check()) {
// we're in auto takeoff
throttle_suppressed = false;
if (hold_course_cd != -1) {
// update takeoff course hold, if already initialised
hold_course_cd = ahrs.yaw_sensor;
gcs_send_text_fmt(PSTR("Holding course %ld"), hold_course_cd);
}
return false;
}