From 843c814fb8524020eda41043169db01e57ae1da8 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 9 Dec 2021 20:10:41 +0100 Subject: [PATCH] MulticopterPositionControl: allow offboard takeoff also when not landed --- src/modules/mc_pos_control/MulticopterPositionControl.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index 43db19e69d..d53252839c 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -419,8 +419,8 @@ void MulticopterPositionControl::Run() if (_vehicle_control_mode.flag_control_offboard_enabled) { - bool want_takeoff = _vehicle_control_mode.flag_armed && _vehicle_land_detected.landed - && (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s); + const bool want_takeoff = _vehicle_control_mode.flag_armed + && (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s); if (want_takeoff && PX4_ISFINITE(_setpoint.z) && (_setpoint.z < states.position(2))) { @@ -536,7 +536,7 @@ void MulticopterPositionControl::Run() _vehicle_attitude_setpoint_pub.publish(attitude_setpoint); } else { - // an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes + // an update is necessary here because otherwise the takeoff state doesn't get skipped with non-altitude-controlled modes _takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true, vehicle_local_position.timestamp_sample); }