Plane: Enabled roll navigation in mode TAKEOFF during climb

ArduPilot · Aug 8, 2024 · 9bf7812 · 9bf7812
1 parent 33e81d9
commit 9bf7812
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -482,7 +482,7 @@ void Plane::update_GPS_10Hz(void)
  */
 void Plane::update_control_mode(void)
 {
-    if (control_mode != &mode_auto) {
+    if ((control_mode != &mode_auto) && (control_mode != &mode_takeoff)) {
         // hold_course is only used in takeoff and landing
         steer_state.hold_course_cd = -1;
     }

diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
@@ -119,7 +119,7 @@ void ModeTakeoff::update()
                                 alt, dist, direction);
                 plane.takeoff_state.start_time_ms = millis();
                 takeoff_mode_setup = true;
-
+                plane.steer_state.hold_course_cd = wrap_360_cd(direction*100); // Necessary to allow Plane::takeoff_calc_roll() to function.
             }
         }
     }