Copter: fix takeoff drift if vehicle is not in origin
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@ -146,7 +146,7 @@ void Mode::auto_takeoff_run()
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// if not armed set throttle to zero and exit immediately
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if (!motors->armed() || !copter.ap.auto_armed) {
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make_safe_spool_down();
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wp_nav->shift_wp_origin_to_current_pos();
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wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
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return;
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}
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@ -165,7 +165,7 @@ void Mode::auto_takeoff_run()
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set_land_complete(false);
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} else {
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// motors have not completed spool up yet so relax navigation and position controllers
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wp_nav->shift_wp_origin_to_current_pos();
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wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
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pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
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pos_control->update_z_controller();
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attitude_control->set_yaw_target_to_current_heading();
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