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Copter: parachute check uses alt-above-home

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Baro alt is tied to the alt above EKF origin which isn't correct
This commit is contained in:
Randy Mackay 2015-05-12 21:49:44 +09:00
parent 5560d3dba1
commit 3269cd63cb
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/crash_check.pde
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@ -110,7 +110,7 @@ void parachute_check()
} }
// ensure the first control_loss event is from above the min altitude // ensure the first control_loss event is from above the min altitude
if (control_loss_count == 0 && parachute.alt_min() != 0 && (baro_alt < (int32_t)parachute.alt_min() * 100)) { if (control_loss_count == 0 && parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100)) {
return; return;
} }
@ -177,7 +177,7 @@ static void parachute_manual_release()
} }
// do not release if we are landed or below the minimum altitude above home // do not release if we are landed or below the minimum altitude above home
if (ap.land_complete || (parachute.alt_min() != 0 && (baro_alt < (int32_t)parachute.alt_min() * 100))) { if (ap.land_complete || (parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
// warn user of reason for failure // warn user of reason for failure
gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Too Low")); gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Too Low"));
// log an error in the dataflash // log an error in the dataflash