Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: Fix in-air logic bug

Browse Source
This commit is contained in:
Paul Riseborough 2015-10-16 23:19:28 +11:00 committed by Andrew Tridgell
parent e7de2d3ea3
commit 242b9641c8
1 changed files with 0 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
View File

@ -312,11 +312,6 @@ void NavEKF2_core::detectFlight()
onGround = false;
}
// Determine if is is possible we are on the ground
if (highGndSpd || highAirSpd || largeHgtChange) {
inFlight = false;
}
// Determine to a high certainty we are not flying
// after 5 seconds of not detecting a possible flight condition or we are disarmed, we transition to on-ground mode
if(!motorsArmed || ((imuSampleTime_ms - airborneDetectTime_ms) > 5000)) {