feat (vehicle): update TakeOff command logic for ArduQuadPlaneClient

Asana: https://app.asana.com/0/1206009821057985/1208017216921397/f
asv-soft · Aug 22, 2024 · 5934db5 · 5934db5
1 parent 54b193e
commit 5934db5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/Qplane/ArduQuadPlaneClient.cs b/src/Asv.Mavlink/Devices/Vehicles/Client/Ardupilot/Qplane/ArduQuadPlaneClient.cs
@@ -93,9 +93,9 @@ public override Task DoRtl(CancellationToken cancel = default)
 
     public override async Task TakeOff(double altInMeters, CancellationToken cancel = default)
     {
-        IVehicleMode mode = ArduQuadPlaneMode.Guided;
         await EnsureInGuidedMode(cancel).ConfigureAwait(false);
-
+        await Position.ArmDisarm(true, cancel).ConfigureAwait(false);
+        await Position.TakeOff(altInMeters,  cancel).ConfigureAwait(false);
     }
 
     public override IEnumerable<IVehicleMode> AvailableModes { get; }