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Added safety to prevent shutdown of motors during Auto-land

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This commit is contained in:
Jason Short 2012-02-08 21:26:48 -08:00
parent f40d40b0f9
commit 6848dc17e5
1 changed files with 12 additions and 8 deletions
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20
ArduCopter/commands_logic.pde
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@ -381,12 +381,14 @@ static bool verify_land_sonar()
// if we are low or don't seem to be decending much, increment ground detector
if(current_loc.alt < 40 || abs(climb_rate) < 20) {
landing_boost++; // reduce the throttle at twice the normal rate
if(ground_detector++ > 30) {
if(ground_detector++ >= 30) {
land_complete = true;
ground_detector = 0;
ground_detector = 30;
icount = 1;
// init disarm motors
init_disarm_motors();
if(g.rc_3.control_in == 0){
// init disarm motors
init_disarm_motors();
}
return true;
}
}
@ -412,11 +414,13 @@ static bool verify_land_baro()
if(current_loc.alt < 150 ){
if(abs(climb_rate) < 20) {
landing_boost++;
if(ground_detector++ > 30) {
if(ground_detector++ >= 30) {
land_complete = true;
ground_detector = 0;
// init disarm motors
init_disarm_motors();
ground_detector = 30;
if(g.rc_3.control_in == 0){
// init disarm motors
init_disarm_motors();
}
return true;
}
}