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TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started.

This commit is contained in:
Robert Lefebvre 2013-07-18 15:50:06 -04:00 committed by Randy Mackay
parent f7c63be357
commit 324c866ae1
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/ArduCopter.pde
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@ -1915,9 +1915,6 @@ void update_throttle_mode(void)
update_throttle_cruise(motors.coll_out);
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
// check if we've taken off yet
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
@ -1925,6 +1922,7 @@ void update_throttle_mode(void)
set_takeoff_complete(true);
}
}
#endif //HELI_FRAME
}
set_target_alt_for_reporting(0);
break;
@ -1942,14 +1940,13 @@ void update_throttle_mode(void)
update_throttle_cruise(motors.coll_out);
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}
#endif //HELI_FRAME
}
set_target_alt_for_reporting(0);
break;
@ -2028,6 +2025,9 @@ static void check_dynamic_flight(void){
return;
}
if (dynamic_flight_counter < 255){ // check if we're in dynamic flight mode
if (!ap.takeoff_complete){
set_takeoff_complete(true);
}
if (g.rc_3.servo_out > 800 || (labs(ahrs.pitch_sensor) > 2000)) {
dynamic_flight_counter++;
}