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Plane: adjust for a lack of DCM

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This commit is contained in:
Peter Barker 2023-09-20 23:25:07 +10:00 committed by Peter Barker
parent 486ed2965e
commit 93da99bea2
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/commands_logic.cpp
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@ -552,7 +552,11 @@ void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
/********************************************************************************/ /********************************************************************************/
bool Plane::verify_takeoff() bool Plane::verify_takeoff()
{ {
if (ahrs.dcm_yaw_initialised() && steer_state.hold_course_cd == -1) { bool trust_ahrs_yaw = AP::ahrs().initialised();
#if AP_AHRS_DCM_ENABLED
trust_ahrs_yaw |= ahrs.dcm_yaw_initialised();
#endif
if (trust_ahrs_yaw && steer_state.hold_course_cd == -1) {
const float min_gps_speed = 5; const float min_gps_speed = 5;
if (auto_state.takeoff_speed_time_ms == 0 && if (auto_state.takeoff_speed_time_ms == 0 &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.status() >= AP_GPS::GPS_OK_FIX_3D &&