Copter: Release Tie Down on take-off

Author: lthall

ArduCopter/takeoff.cpp

@@ -54,6 +54,9 @@ void Mode::_TakeOff::start(float alt_cm)
     _running = true;
     take_off_start_alt = copter.pos_control->get_pos_target_z_cm();
     take_off_complete_alt  = take_off_start_alt + alt_cm;
+#if AP_LANDINGGEAR_ENABLED
+    copter.landinggear.tie_down_release();
+#endif
 }
 
 // stop takeoff
@@ -218,6 +221,9 @@ void _AutoTakeoff::run()
     if (complete) {
         const Vector3p& _complete_pos = copter.pos_control->get_pos_target_cm();
         complete_pos = Vector3p{_complete_pos.x, _complete_pos.y, pos_z};
+#if AP_LANDINGGEAR_ENABLED
+    copter.landinggear.tie_down_secure();
+#endif
     }
 }
 
@@ -237,6 +243,9 @@ void _AutoTakeoff::start(float _complete_alt_cm, bool _terrain_alt)
     } else {
         no_nav_active = false;
     }
+#if AP_LANDINGGEAR_ENABLED
+    copter.landinggear.tie_down_release();
+#endif
 }
 
 // return takeoff final position if takeoff has completed successfully