Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-04 23:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduPlane: Only run is_flying landing checks when in landing stage

Browse Source
This commit is contained in:
Michael du Breuil 2017-11-02 15:12:07 -07:00 committed by Andrew Tridgell
parent 4c5b1e1fc5
commit 8e53fb2a78
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/is_flying.cpp
View File

@ -70,10 +70,6 @@ void Plane::update_is_flying_5Hz(void)
crash_state.impact_detected = false; crash_state.impact_detected = false;
} }
if (landing.is_on_approach() && fabsf(auto_state.sink_rate) > 0.2f) {
is_flying_bool = true;
}
switch (flight_stage) switch (flight_stage)
{ {
case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF: case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF:
@ -93,6 +89,12 @@ void Plane::update_is_flying_5Hz(void)
// TODO: detect ground impacts // TODO: detect ground impacts
break; break;
case AP_Vehicle::FixedWing::FLIGHT_LAND:
if (landing.is_on_approach() && fabsf(auto_state.sink_rate) > 0.2f) {
is_flying_bool = true;
}
break;
case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND: case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND:
if (auto_state.sink_rate < -0.5f) { if (auto_state.sink_rate < -0.5f) {
// steep climb // steep climb