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Copter: increase chance that parachute will deploy 

Previously a single moment where the vehicle was within 30deg of the target could cause the parachute release counter to reset to zero.  This change makes the parachute release if it is spending at least half it's time with more than a 30degree angle error.
This commit is contained in:
Leonard Hall 2016-09-05 19:36:28 +09:00 committed by Randy Mackay
parent 7a18d59099
commit 1f2d17e8e7
1 changed files with 3 additions and 1 deletions
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4
ArduCopter/crash_check.cpp
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@ -101,7 +101,9 @@ void Copter::parachute_check()
// check for angle error over 30 degrees
const float angle_error = attitude_control.get_att_error_angle_deg();
if (angle_error <= CRASH_CHECK_ANGLE_DEVIATION_DEG) {
control_loss_count = 0;
if (control_loss_count > 0) {
control_loss_count--;
}
return;
}