Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: fixed accel based launch with timer enabled

Browse Source 
when both timer and accel set should meet both conditions
This commit is contained in:
Andrew Tridgell 2016-10-15 20:09:20 +11:00
parent 8b7c60dcd7
commit 29f4fe2398
1 changed files with 2 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduPlane/takeoff.cpp
View File

@ -34,9 +34,8 @@ bool Plane::auto_takeoff_check(void)
return false; return false;
} }
// Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing // Check for launch acceleration if set. NOTE: relies on TECS 50Hz processing
if (!takeoff_state.launchTimerStarted && if (!is_zero(g.takeoff_throttle_min_accel) &&
!is_zero(g.takeoff_throttle_min_accel) &&
SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) { SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
goto no_launch; goto no_launch;
} }