Plane: During takeoff keep limit at LEVEL_ROLL_LIMIT until rotate spe…

…ed is reached.
ArduCustom · Feb 8, 2021 · db8aaeb · db8aaeb
1 parent 2ab8ad0
commit db8aaeb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
@@ -137,7 +137,7 @@ void Plane::takeoff_calc_roll(void)
     const float lim1 = 5;    
     // at 15m allow for full roll
     const float lim2 = 15;
-    if (baro_alt < auto_state.baro_takeoff_alt+lim1) {
+    if ((baro_alt < auto_state.baro_takeoff_alt+lim1) || (auto_state.highest_airspeed < g.takeoff_rotate_speed)) {
         roll_limit = g.level_roll_limit;
     } else if (baro_alt < auto_state.baro_takeoff_alt+lim2) {
         float proportion = (baro_alt - (auto_state.baro_takeoff_alt+lim1)) / (lim2 - lim1);