From 3551609a21c174184c128c39611858775b262863 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 20 Dec 2016 15:00:44 +1100 Subject: [PATCH] Copter: payload place requires 30% throttle reduction to release --- ArduCopter/commands_logic.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduCopter/commands_logic.cpp b/ArduCopter/commands_logic.cpp index 21f3e825f4..e6d984f3af 100644 --- a/ArduCopter/commands_logic.cpp +++ b/ArduCopter/commands_logic.cpp @@ -699,7 +699,7 @@ bool Copter::verify_payload_place() { const uint16_t hover_throttle_calibrate_time = 2000; // milliseconds const uint16_t descend_throttle_calibrate_time = 2000; // milliseconds - const float hover_throttle_placed_fraction = 0.8; // i.e. if throttle is less than 80% of hover we have placed + const float hover_throttle_placed_fraction = 0.7; // i.e. if throttle is less than 70% of hover we have placed const float descent_throttle_placed_fraction = 0.9; // i.e. if throttle is less than 90% of descent throttle we have placed const uint16_t placed_time = 500; // how long we have to be below a throttle threshold before considering placed @@ -803,6 +803,7 @@ bool Copter::verify_payload_place() } else { gcs_send_text_fmt(MAV_SEVERITY_INFO, "Gripper not valid"); nav_payload_place.state = PayloadPlaceStateType_Ascending_Start; + break; } nav_payload_place.state = PayloadPlaceStateType_Releasing; // no break