mc_pos_control: fix updating takeoff state when no flight task is run…

…ning

Without always updating the takeoff state it will not get skipped when
the takeoff happened manually and when you switch from manual to position
mode the drone goes to idle and falls.

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -581,10 +581,11 @@ MulticopterPositionControl::run()
 			_wv_controller->update(matrix::Quatf(_att_sp.q_d), _states.yaw);
 		}
 
-		// takeoff delay for motors to reach idle speed
-		_takeoff._spoolup_time_hysteresis.set_state_and_update(_control_mode.flag_armed);
+		// an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes
+		_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, false, -1.f, !_control_mode.flag_control_climb_rate_enabled);
 
-		if (_takeoff._spoolup_time_hysteresis.get_state()) {
+		// takeoff delay for motors to reach idle speed
+		if (_takeoff.getTakeoffState() >= TakeoffState::ready_for_takeoff) {
 			// when vehicle is ready switch to the required flighttask
 			start_flight_task();