FwPositionControl: don't do takeoff help for vtol

- takeoff help is used for fixed wings, it increases the altitude setpoint
after a launch. A vtol does not need this as it's already sufficiently
high up in the air.

Signed-off-by: Roman <bapstroman@gmail.com>

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -783,6 +783,11 @@ FixedwingPositionControl::update_desired_altitude(float dt)
 bool
 FixedwingPositionControl::in_takeoff_situation()
 {
+	// a VTOL does not need special takeoff handling
+	if (_vehicle_status.is_vtol) {
+		return false;
+	}
+
 	// in air for < 10s
 	const hrt_abstime delta_takeoff = 10_s;
 
@@ -797,9 +802,6 @@ FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitch_lim
 	if (in_takeoff_situation()) {
 		*hold_altitude = _takeoff_ground_alt + _parameters.climbout_diff;
 		*pitch_limit_min = radians(10.0f);
-
-	} else {
-		*pitch_limit_min = _parameters.pitch_limit_min;
 	}
 }
 
@@ -1041,10 +1043,10 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 		/* update desired altitude based on user pitch stick input */
 		bool climbout_requested = update_desired_altitude(dt);
 
-		/* if we assume that user is taking off then help by demanding altitude setpoint well above ground
-		* and set limit to pitch angle to prevent stearing into ground
-		*/
-		float pitch_limit_min{0.0f};
+		// if we assume that user is taking off then help by demanding altitude setpoint well above ground
+		// and set limit to pitch angle to prevent steering into ground
+		// this will only affect planes and not VTOL
+		float pitch_limit_min = _parameters.pitch_limit_min;
 		do_takeoff_help(&_hold_alt, &pitch_limit_min);
 
 		/* throttle limiting */
@@ -1143,10 +1145,10 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
 		/* update desired altitude based on user pitch stick input */
 		bool climbout_requested = update_desired_altitude(dt);
 
-		/* if we assume that user is taking off then help by demanding altitude setpoint well above ground
-		* and set limit to pitch angle to prevent stearing into ground
-		*/
-		float pitch_limit_min{0.0f};
+		// if we assume that user is taking off then help by demanding altitude setpoint well above ground
+		// and set limit to pitch angle to prevent steering into ground
+		// this will only affect planes and not VTOL
+		float pitch_limit_min = _parameters.pitch_limit_min;
 		do_takeoff_help(&_hold_alt, &pitch_limit_min);
 
 		/* throttle limiting */