From 5c13db221bef1332d59312a4fc0ad2a8a113176b Mon Sep 17 00:00:00 2001
From: abeck70 <abeck70@icloud.com>
Date: Mon, 4 May 2015 21:48:24 +1000
Subject: [PATCH] OP-1867 autoland/takeoff

Allow takeoff after land on abort when in takeoff flight mode without having to change flight mode.
---
 flight/libraries/plans.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/flight/libraries/plans.c b/flight/libraries/plans.c
index bd69d7df6..4005a9d6f 100644
--- a/flight/libraries/plans.c
+++ b/flight/libraries/plans.c
@@ -294,6 +294,14 @@ void plan_run_AutoTakeoff()
     break;
 
     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
+    {
+        FlightStatusData flightStatus;
+        FlightStatusGet(&flightStatus);
+        if (!flightStatus.Armed) {
+            autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
+        }
+    }
+    break;
     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
     // nothing to do. land has been requested. stay here for forever until mode change.
     default: