From c928c6ce5b70fd6adafde34fbc1d240822d00ce1 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Mon, 25 May 2020 10:16:31 -0700
Subject: [PATCH] VTOL Takeoff should be considered a transition to FW
---
src/MissionManager/MissionController.cc | 6 ++----
1 file changed, 2 insertions(+), 4 deletions(-)
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 1ad193b..8c50957 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1548,12 +1548,10 @@ void MissionController::_recalcMissionFlightStatus()
// Update VTOL state
if (simpleItem && _controllerVehicle->vtol()) {
switch (simpleItem->command()) {
- case MAV_CMD_NAV_TAKEOFF:
+ case MAV_CMD_NAV_TAKEOFF: // This will do a fixed wing style takeoff
+ case MAV_CMD_NAV_VTOL_TAKEOFF: // Vehicle goes straight up and then transitions to FW
vtolInHover = false;
break;
- case MAV_CMD_NAV_VTOL_TAKEOFF:
- vtolInHover = true;
- break;
case MAV_CMD_NAV_LAND:
vtolInHover = false;
break;