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Plane: prevent jump to Circle upon Takeoff mode entry unless flying >10s

This commit is contained in:
Henry Wurzburg 2020-03-02 20:04:35 -06:00 committed by Andrew Tridgell
parent 6c6998c48a
commit 79ab2179c9
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/mode_takeoff.cpp
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@ -65,7 +65,7 @@ void ModeTakeoff::update()
{
if (!takeoff_started) {
// see if we will skip takeoff as already flying
if (plane.is_flying() && plane.ahrs.groundspeed() > 3) {
if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && plane.ahrs.groundspeed() > 3) {
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff skipped - circling");
plane.prev_WP_loc = plane.current_loc;
plane.next_WP_loc = plane.current_loc;