Merge pull request #4945 from DonLakeFlyer/ArduPilotTakeoff

ArduPilot: Put back guided mode takeoff

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)
 {

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; }