From 42cd0b4ce01a2c9faedab69a88f0b7ab1479e2ab Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 4 Jul 2022 12:40:11 +0300 Subject: [PATCH] FlightTaskAuto: don't override landing gear state for takeoff - this allows landing gear to retract automatically when doing a takeoff and the vehicle is considered high enough Signed-off-by: RomanBapst --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index ab43a28b42..0a09c390f0 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -146,11 +146,8 @@ bool FlightTaskAuto::update() _velocity_setpoint(2) = NAN; break; - case WaypointType::takeoff: - // Takeoff is completely defined by target position - _gear.landing_gear = landing_gear_s::GEAR_DOWN; - // FALLTHROUGH + case WaypointType::takeoff: case WaypointType::loiter: case WaypointType::position: default: