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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
This commit is contained in:
Randy Mackay 2013-06-03 14:18:56 +09:00
parent 5c13e56c04
commit 9f59f2724f
1 changed files with 0 additions and 6 deletions
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6
ArduCopter/commands_logic.pde
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@ -450,12 +450,6 @@ static void do_loiter_time()
// verify_takeoff - check if we have completed the takeoff // verify_takeoff - check if we have completed the takeoff
static bool verify_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? // have we reached our target altitude?
return wp_nav.reached_destination(); return wp_nav.reached_destination();
} }