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

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we should always takeoff vertically
This commit is contained in:
Andrew Tridgell 2019-01-11 12:42:18 +11:00
parent 8a64876eb2
commit a57f3880d1
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/quadplane.cpp
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@ -2123,7 +2123,11 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
return false; 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; plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
throttle_wait = false; throttle_wait = false;