From d5bd30bce0d263d863469afa41f0a626db4450a6 Mon Sep 17 00:00:00 2001
From: magate <69254089+magate@users.noreply.github.com>
Date: Wed, 20 Mar 2024 15:23:20 -0700
Subject: [PATCH] Plane: do not set desired vel/accel on takeoff

This effectively bypasses the input shaping.

Currently this creates a step change in the position controller.
---
 ArduPlane/quadplane.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 390787425d..0bb00459ee 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -3099,8 +3099,6 @@ void QuadPlane::takeoff_controller(void)
     if (no_navigation) {
         pos_control->relax_velocity_controller_xy();
     } else {
-        pos_control->set_accel_desired_xy_cmss(zero);
-        pos_control->set_vel_desired_xy_cms(vel);
         pos_control->input_vel_accel_xy(vel, zero);
 
         // nav roll and pitch are controller by position controller