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fw pos ctrl: mark completed manual takeoff true if rotary wing and armed

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Thomas Stastny 2022-07-12 15:50:39 +02:00 committed by Daniel Agar
parent b4e066f056
commit 69bc5d37bc
1 changed files with 3 additions and 2 deletions
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5
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -725,8 +725,9 @@ FixedwingPositionControl::updateManualTakeoffStatus()
if (!_completed_manual_takeoff) {
const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get()
|| !_airspeed_valid;
_completed_manual_takeoff = !_landed
&& at_controllable_airspeed;
const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _control_mode.flag_armed;
_completed_manual_takeoff = (!_landed && at_controllable_airspeed) || is_hovering;
}
}