From ab42bbc43f5cd8cec5197c3dab7f8e175dc2cb8b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 14 Oct 2020 14:26:35 +0900
Subject: [PATCH] Copter: guided mode velocity control can trigger takeoff

---
 ArduCopter/mode_guided.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 28129c8fa3..ff4f1086ec 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -466,6 +466,17 @@ void ModeGuided::vel_control_run()
         }
     }
 
+    // landed with positive desired climb rate, initiate takeoff
+    if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
+        zero_throttle_and_relax_ac();
+        motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
+        if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
+            set_land_complete(false);
+            set_throttle_takeoff();
+        }
+        return;
+    }
+
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
         make_safe_spool_down();