From 9f59f2724fef29c7538b96762e5f21868700eae7 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 3 Jun 2013 14:18:56 +0900 Subject: [PATCH] Copter: bug fix for take-off when throttle is zero Verify_takeoff was always returning false if throttle was zero. The pilot should be able to move their throttle back to zero immediately after initiating the mission --- ArduCopter/commands_logic.pde | 6 ------ 1 file changed, 6 deletions(-) diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde index c687582b5e..5aed53a23b 100644 --- a/ArduCopter/commands_logic.pde +++ b/ArduCopter/commands_logic.pde @@ -450,12 +450,6 @@ static void do_loiter_time() // verify_takeoff - check if we have completed the takeoff static bool verify_takeoff() { - // wait until we are ready! - if(g.rc_3.control_in == 0) { - // To-Do: reset loiter target if we have not yet taken-off - // do not allow I term to build up if we have not yet taken-off - return false; - } // have we reached our target altitude? return wp_nav.reached_destination(); }