From eb8e912808b9aea8c177c3ecaf780696a3c6bbc4 Mon Sep 17 00:00:00 2001
From: Saracen <SaracenOne@gmail.com>
Date: Thu, 11 Apr 2019 03:29:58 +0100
Subject: [PATCH] Added missing checks to ground and takeoff state.

---
 libraries/physics/src/CharacterController.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/physics/src/CharacterController.cpp b/libraries/physics/src/CharacterController.cpp
index 9e5b7f8336..45489781e8 100755
--- a/libraries/physics/src/CharacterController.cpp
+++ b/libraries/physics/src/CharacterController.cpp
@@ -754,7 +754,11 @@ void CharacterController::updateState() {
         switch (_state) {
             case State::Ground:
                 if (!rayHasHit && !_hasSupport) {
-                    SET_STATE(State::Hover, "no ground detected");
+                    if (_useFallHeightThreshold) {
+                       SET_STATE(State::Hover, "no ground detected");
+                    } else {
+                       SET_STATE(State::InAir, "falling");
+                    }
                 } else if (_pendingFlags & PENDING_FLAG_JUMP && _jumpButtonDownCount != _takeoffJumpButtonID) {
                     _takeoffJumpButtonID = _jumpButtonDownCount;
                     _takeoffToInAirStartTime = now;
@@ -764,7 +768,7 @@ void CharacterController::updateState() {
                 }
                 break;
             case State::Takeoff:
-                if (!rayHasHit && !_hasSupport) {
+                if (_useFallHeightThreshold && (!rayHasHit && !_hasSupport)) {
                     SET_STATE(State::Hover, "no ground");
                 } else if ((now - _takeoffToInAirStartTime) > TAKE_OFF_TO_IN_AIR_PERIOD) {
                     SET_STATE(State::InAir, "takeoff done");