mirror of https://github.com/ArduPilot/ardupilot
Made landing disarm the motors
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@ -356,13 +356,16 @@ static bool verify_land()
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if (velocity_land == -1)
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velocity_land = 2000;
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if (current_loc.alt < 500){
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// a LP filter used to tell if we have landed
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// will drive to 0 if we are on the ground - maybe, the baro is noisy
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velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8;
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}
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old_alt = current_loc.alt;
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if (current_loc.alt < 300){
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wp_control = NO_NAV_MODE;
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// Update by JLN for a safe AUTO landing
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@ -381,12 +384,12 @@ static bool verify_land()
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}
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}
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if(velocity_land <= 0){
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if(current_loc.alt < 300 && velocity_land <= 100){
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land_complete = true;
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// reset old_alt
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old_alt == 0;
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// commented out to prevent tragedy
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//return true;
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init_disarm_motors();
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return true;
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}
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//Serial.printf("N, %d\n", velocity_land);
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//Serial.printf("N_alt, %ld\n", next_WP.alt);
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