From 17bc9a28b887951a0684bdc7ccb42716b359412b Mon Sep 17 00:00:00 2001
From: mahima-yoga <mahima@auterion.com>
Date: Thu, 11 Dec 2025 12:15:23 +0100
Subject: [PATCH] FwModeManager:  don't skip takeoff detection if not yet in
 air

---
 src/modules/fw_mode_manager/FixedWingModeManager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index 538961c324..6b4bea081e 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -1280,7 +1280,7 @@ FixedWingModeManager::control_auto_takeoff_no_nav(const hrt_abstime &now, const
 			_launch_current_yaw = _yaw;
 		}
 
-		if (_skipping_takeoff_detection) {
+		if (_skipping_takeoff_detection && _runway_takeoff.getState() > RunwayTakeoffState::CLAMPED_TO_RUNWAY) {
 			_runway_takeoff.forceSetFlyState();
 		}