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Plane: check motor spool state in vtol approach check

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Andrew Tridgell 2019-02-25 13:29:00 +11:00
parent 1135a91846
commit 7b6d74be13
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -2697,7 +2697,8 @@ void QuadPlane::update_throttle_thr_mix(void)
bool QuadPlane::in_vtol_land_approach(void) const bool QuadPlane::in_vtol_land_approach(void) const
{ {
if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) && if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
(poscontrol.state == QPOS_POSITION1 || poscontrol.state == QPOS_POSITION2)) { (poscontrol.state == QPOS_POSITION1 || poscontrol.state == QPOS_POSITION2) &&
motors->get_desired_spool_state() >= AP_Motors::DESIRED_SPIN_WHEN_ARMED) {
return true; return true;
} }
return false; return false;