From c928c6ce5b70fd6adafde34fbc1d240822d00ce1 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Mon, 25 May 2020 10:16:31 -0700
Subject: [PATCH] VTOL Takeoff should be considered a transition to FW

---
 src/MissionManager/MissionController.cc | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 1ad193bd7..8c509579c 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -1548,12 +1548,10 @@ void MissionController::_recalcMissionFlightStatus()
         // Update VTOL state
         if (simpleItem && _controllerVehicle->vtol()) {
             switch (simpleItem->command()) {
-            case MAV_CMD_NAV_TAKEOFF:
+            case MAV_CMD_NAV_TAKEOFF:       // This will do a fixed wing style takeoff
+            case MAV_CMD_NAV_VTOL_TAKEOFF:  // Vehicle goes straight up and then transitions to FW
                 vtolInHover = false;
                 break;
-            case MAV_CMD_NAV_VTOL_TAKEOFF:
-                vtolInHover = true;
-                break;
             case MAV_CMD_NAV_LAND:
                 vtolInHover = false;
                 break;
-- 
2.22.0