mirror of https://github.com/ArduPilot/ardupilot
Copter: auto stays in takeoff submode after reaching altitude
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@ -370,7 +370,7 @@ bool ModeAuto::is_landing() const
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bool ModeAuto::is_taking_off() const
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{
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return _mode == Auto_TakeOff;
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return ((_mode == Auto_TakeOff) && !wp_nav->reached_wp_destination());
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}
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bool ModeAuto::landing_gear_should_be_deployed() const
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@ -741,10 +741,6 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::takeoff_run()
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{
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auto_takeoff_run();
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if (wp_nav->reached_wp_destination()) {
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const Vector3f target = wp_nav->get_wp_destination();
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wp_start(target, wp_nav->origin_and_destination_are_terrain_alt());
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}
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}
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// auto_wp_run - runs the auto waypoint controller
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