mirror of https://github.com/ArduPilot/ardupilot
Copter: fix takeoff end report on EXTEND_STATE
regression from https://github.com/ArduPilot/ardupilot/pull/18700. thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
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@ -270,7 +270,7 @@ void ModeGuided::posvelaccel_control_start()
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bool ModeGuided::is_taking_off() const
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{
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return guided_mode == SubMode::TakeOff;
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return guided_mode == SubMode::TakeOff && !takeoff_complete;
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}
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// initialise guided mode's angle controller
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