5
0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-06 16:08:28 -04:00

Plane: fixed VTOL takeoff to ignore lat/lon in mission

we should always takeoff vertically
This commit is contained in:
Andrew Tridgell 2019-01-11 12:42:18 +11:00
parent 8a64876eb2
commit a57f3880d1

View File

@ -2123,7 +2123,11 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
return false;
}
plane.set_next_WP(cmd.content.location);
// we always use the current location in XY for takeoff.
Location loc = cmd.content.location;
loc.lat = 0;
loc.lng = 0;
plane.set_next_WP(loc);
plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
throttle_wait = false;