aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
we should always takeoff vertically
This commit is contained in:
Andrew Tridgell 2019-01-11 12:22:41 +11:00
parent 1bd9b61bf6
commit 53a1d98b68
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduPlane/quadplane.cpp
View File

@ -2193,7 +2193,13 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
return false;
}
plane.set_next_WP(cmd.content.location);
// we always use the current location in XY for takeoff. The altitude defaults
// to relative to current height, but if Q_OPTIONS is set to respect takeoff frame
// then it will use normal frame handling for height
Location loc = cmd.content.location;
loc.lat = 0;
loc.lng = 0;
plane.set_next_WP(loc);
if (options & OPTION_RESPECT_TAKEOFF_FRAME) {
if (plane.current_loc.alt >= plane.next_WP_loc.alt) {
// we are above the takeoff already, no need to do anything