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Plane: fixed minacc and delay for launch

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See
https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
This commit is contained in:
Andrew Tridgell 2017-08-28 17:50:57 +10:00
parent 7829e6652d
commit fdc6a30a35
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/takeoff.cpp
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@ -32,7 +32,8 @@ bool Plane::auto_takeoff_check(void)
}
// Check for launch acceleration if set. NOTE: relies on TECS 50Hz processing
if (!is_zero(g.takeoff_throttle_min_accel) &&
if (!takeoff_state.launchTimerStarted &&
!is_zero(g.takeoff_throttle_min_accel) &&
SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
goto no_launch;
}