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https://github.com/ArduPilot/ardupilot
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Copter: GCS failsafe triggers disarm if landed
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@ -208,7 +208,7 @@ static void failsafe_gcs_check()
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case ACRO:
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case SPORT:
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// if throttle is zero disarm motors
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if (ap.throttle_zero) {
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if (ap.throttle_zero || ap.land_complete) {
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init_disarm_motors();
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}else if(home_distance > wp_nav.get_wp_radius()) {
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// switch to RTL or if that fails, LAND
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@ -219,8 +219,11 @@ static void failsafe_gcs_check()
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}
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break;
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case AUTO:
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// if mission has not started AND vehicle is landed, disarm motors
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if (!ap.auto_armed && ap.land_complete) {
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init_disarm_motors();
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// if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission
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if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
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} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
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if (home_distance > wp_nav.get_wp_radius()) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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@ -232,7 +235,11 @@ static void failsafe_gcs_check()
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// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
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break;
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default:
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if(home_distance > wp_nav.get_wp_radius()) {
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// used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
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// if landed disarm
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if (ap.land_complete) {
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init_disarm_motors();
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} else if (home_distance > wp_nav.get_wp_radius()) {
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// switch to RTL or if that fails, LAND
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set_mode_RTL_or_land_with_pause();
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}else{
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