From fdc6a30a3500aefefccfbd0957e0ada1f670eb03 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 28 Aug 2017 17:50:57 +1000
Subject: [PATCH] Plane: fixed minacc and delay for launch

See
https://discuss.ardupilot.org/t/tkoff-thr-minacc-and-tkoff-thr-delay-doesnt-work-together/19928
---
 ArduPlane/takeoff.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 73e807058d..f7eeec3b67 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -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;
     }