From 42af44700b704f954525a1a62ca6aa812e00d528 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 17 Jun 2021 10:58:39 +0200 Subject: [PATCH] mc_rate_control: always allow landing gear control Except of course when landed and we try to put it up. --- src/modules/mc_rate_control/MulticopterRateControl.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp index 3235689b8c..5884d6f2a2 100644 --- a/src/modules/mc_rate_control/MulticopterRateControl.cpp +++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp @@ -153,8 +153,7 @@ MulticopterRateControl::Run() landing_gear_s landing_gear; if (_landing_gear_sub.copy(&landing_gear)) { - if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP && - _v_control_mode.flag_control_manual_enabled) { + if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) { if (landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) { mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear")