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TradHeli: remove overall throttle level from landing check

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Randy Mackay 2014-09-23 12:49:45 +09:00
parent b17c6d3368
commit 7ced9b1bd3
1 changed files with 4 additions and 1 deletions
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ArduCopter/control_land.pde
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@ -204,7 +204,10 @@ static void update_land_detector()
{ {
// detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate // detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate
if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) && motors.limit.throttle_lower && if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) && motors.limit.throttle_lower &&
(motors.get_throttle_out() < get_non_takeoff_throttle()) && (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) { #if FRAME_CONFIG != HELI_FRAME
(motors.get_throttle_out() < get_non_takeoff_throttle()) &&
#endif
(ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) {
if (!ap.land_complete) { if (!ap.land_complete) {
// increase counter until we hit the trigger then set land complete flag // increase counter until we hit the trigger then set land complete flag
if( land_detector < LAND_DETECTOR_TRIGGER) { if( land_detector < LAND_DETECTOR_TRIGGER) {