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Plane: override is_flying for quadplane

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This commit is contained in:
Tom Pittenger 2016-05-27 16:25:44 -07:00
parent b855c70139
commit 4ebaab86ec
1 changed files with 5 additions and 6 deletions
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11
ArduPlane/is_flying.cpp
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@ -26,9 +26,12 @@ void Plane::update_is_flying_5Hz(void)
// airspeed at least 75% of stall speed? // airspeed at least 75% of stall speed?
bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f)); bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f));
if(arming.is_armed()) {
// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
if (quadplane.is_flying()) {
is_flying_bool = true;
} else if(arming.is_armed()) {
// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
// short drop-outs of GPS are common during flight due to banking which points the antenna in different directions // short drop-outs of GPS are common during flight due to banking which points the antenna in different directions
bool gps_lost_recently = (gps.last_fix_time_ms() > 0) && // we have locked to GPS before bool gps_lost_recently = (gps.last_fix_time_ms() > 0) && // we have locked to GPS before
(gps.status() < AP_GPS::GPS_OK_FIX_2D) && // and it's lost now (gps.status() < AP_GPS::GPS_OK_FIX_2D) && // and it's lost now
@ -126,10 +129,6 @@ void Plane::update_is_flying_5Hz(void)
isFlyingProbability = (0.85f * isFlyingProbability) + (0.15f * (float)is_flying_bool); isFlyingProbability = (0.85f * isFlyingProbability) + (0.15f * (float)is_flying_bool);
} }
if (quadplane.is_flying()) {
is_flying_bool = true;
}
/* /*
update last_flying_ms so we always know how long we have not update last_flying_ms so we always know how long we have not
been flying for. This helps for crash detection and auto-disarm been flying for. This helps for crash detection and auto-disarm