From 93da99bea21cadebdeebd37de079f65a9b84d996 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 20 Sep 2023 23:25:07 +1000 Subject: [PATCH] Plane: adjust for a lack of DCM --- ArduPlane/commands_logic.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp index 70653ba336..9d603addea 100644 --- a/ArduPlane/commands_logic.cpp +++ b/ArduPlane/commands_logic.cpp @@ -552,7 +552,11 @@ void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd) /********************************************************************************/ bool Plane::verify_takeoff() { - if (ahrs.dcm_yaw_initialised() && steer_state.hold_course_cd == -1) { + bool trust_ahrs_yaw = AP::ahrs().initialised(); +#if AP_AHRS_DCM_ENABLED + trust_ahrs_yaw |= ahrs.dcm_yaw_initialised(); +#endif + if (trust_ahrs_yaw && steer_state.hold_course_cd == -1) { const float min_gps_speed = 5; if (auto_state.takeoff_speed_time_ms == 0 && gps.status() >= AP_GPS::GPS_OK_FIX_3D &&