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Copter: prevent Auto tipovers caused by missing takeoff command

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Niti Rohilla 2016-05-19 19:36:45 +09:00 committed by Randy Mackay
parent 9ec0000691
commit 26e41fee7a
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/control_auto.cpp
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@ -37,6 +37,10 @@ bool Copter::auto_init(bool ignore_checks)
// clear guided limits // clear guided limits
guided_limit_clear(); guided_limit_clear();
// Deny switching to auto mode if land is completed and motors are armed but the next command in the mission is lateral flying
if (motors.armed() && ap.land_complete && !mission.check_takeoff_cmd()) {
return false;
}
// start/resume the mission (based on MIS_RESTART parameter) // start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume(); mission.start_or_resume();
return true; return true;