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Plane: allow manual parachute releases on the ground

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This commit is contained in:
Tom Pittenger 2016-06-07 09:02:09 -07:00
parent ef3d17cc4c
commit 263931b4b1
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/parachute.cpp
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@ -39,8 +39,9 @@ bool Plane::parachute_manual_release()
return false;
}
if (parachute.alt_min() != 0 && relative_ground_altitude(false) < parachute.alt_min()) {
if (parachute.alt_min() > 0 && relative_ground_altitude(false) < parachute.alt_min() &&
auto_state.started_flying_in_auto_ms > 0 && auto_state.takeoff_complete) {
// Allow manual ground tests by only checking if flying too low if we've taken off
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Parachute: Too low");
return false;
}