From 8c9f27bb8a4cb26836bd5721a629521fe950800e Mon Sep 17 00:00:00 2001 From: Roman Date: Wed, 15 Feb 2017 13:51:03 +0100 Subject: [PATCH] land detector (mc): takeoff throttle should be the same for all manual, altitude controlled modes Signed-off-by: Roman --- src/modules/land_detector/MulticopterLandDetector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index 1013fd6c7e..506dbfee02 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -260,7 +260,7 @@ bool MulticopterLandDetector::_get_landed_state() float MulticopterLandDetector::_get_takeoff_throttle() { /* Position mode */ - if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) { + if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_altitude_enabled) { /* Should be above 0.5 because below that we do not gain altitude and won't take off. * Also it should be quite high such that we don't accidentally take off when using * a spring loaded throttle and have a useful vertical speed to start with. */