From 381bd28518e216b8667b1a6d15fae25669a215b5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 14 Jan 2013 12:40:59 +0900
Subject: [PATCH] Copter: relax altitude check in verify_takeoff
Previously we checked if the alt > target_alt but because there is
little to no overshoot with the new accel based alt controller this
check was failing for some users.
---
ArduCopter/commands_logic.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 2425eae8f..51d80d5f3 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -364,7 +364,7 @@ static bool verify_takeoff()
return false;
}
// are we above our target altitude?
- return (current_loc.alt > next_WP.alt);
+ return (alt_change_flag == REACHED_ALT);
}
// verify_land - returns true if landing has been completed
--
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