FlightTasks: fix takeoff trigger for offboard

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

@@ -129,17 +129,6 @@ void FlightTaskAuto::_limitYawRate()
 	}
 }
 
-bool FlightTaskAuto::_checkTakeoff() {
-	// position setpoint above the minimum altitude
-	float min_altitude = 0.2f;
-	const float min_distance_to_ground = _sub_vehicle_local_position->get().hagl_min;
-	if (PX4_ISFINITE(min_distance_to_ground)) {
-		min_altitude = min_distance_to_ground + 0.05f;
-	}
-
-	return PX4_ISFINITE(_position_setpoint(2)) && _position_setpoint(2) < (_position(2) - min_altitude);
-}
-
 bool FlightTaskAuto::_evaluateTriplets()
 {
 	// TODO: fix the issues mentioned below

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp

@@ -91,7 +91,6 @@ protected:
 	matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/
 	void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
 	bool _compute_heading_from_2D_vector(float &heading, matrix::Vector2f v); /**< Computes and sets heading a 2D vector */
-	virtual bool _checkTakeoff();  /**< determines when to trigger a takeoff (ignored in flight) */
 
 	matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
 	matrix::Vector3f _prev_wp{}; /**< Previous waypoint  (local frame). If no previous triplet is available, the prev_wp is set to current position. */