From 747bdce34e167de19640a7d379e46a20d3262b9d Mon Sep 17 00:00:00 2001
From: Don Gagne <Don@laptop-3.local>
Date: Sat, 8 Apr 2017 20:21:04 -0700
Subject: [PATCH] Put back guided mode takeoff

---
 src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc | 3 ---
 src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h  | 3 ---
 2 files changed, 6 deletions(-)

diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 270fb99d4..8860e98c0 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -133,8 +133,6 @@ void ArduCopterFirmwarePlugin::guidedModeLand(Vehicle* vehicle)
     vehicle->setFlightMode("Land");
 }
 
-#if 0
-// WIP
 void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 {
     if (!_armVehicle(vehicle)) {
@@ -148,7 +146,6 @@ void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
                             0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
                             2.5);
 }
-#endif
 
 void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
 {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 8b771c110..2d5414db0 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -58,10 +58,7 @@ public:
     void pauseVehicle(Vehicle* vehicle) final;
     void guidedModeRTL(Vehicle* vehicle) final;
     void guidedModeLand(Vehicle* vehicle) final;
-#if 0
-    // WIP
     void guidedModeTakeoff(Vehicle* vehicle) final;
-#endif
     void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
     void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
-- 
2.22.0