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Plane: fixed disarm by rudder in quadplane

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This commit is contained in:
Andrew Tridgell 2016-07-25 06:08:36 +10:00
parent 7ea68f8f80
commit 9602d208a2
1 changed files with 11 additions and 2 deletions
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13
ArduPlane/quadplane.cpp
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@ -627,7 +627,7 @@ bool QuadPlane::is_flying(void)
if (!available()) { if (!available()) {
return false; return false;
} }
if (motors->get_throttle() > 0.1 && !motors->limit.throttle_lower) { if (motors->get_throttle() > 0.01f && !motors->limit.throttle_lower) {
return true; return true;
} }
return false; return false;
@ -637,7 +637,7 @@ bool QuadPlane::is_flying(void)
bool QuadPlane::should_relax(void) bool QuadPlane::should_relax(void)
{ {
bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min(); bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();
if (motors->get_throttle() < 0.01) { if (motors->get_throttle() < 0.01f) {
motor_at_lower_limit = true; motor_at_lower_limit = true;
} }
if (!motor_at_lower_limit) { if (!motor_at_lower_limit) {
@ -654,7 +654,16 @@ bool QuadPlane::should_relax(void)
// see if we are flying in vtol // see if we are flying in vtol
bool QuadPlane::is_flying_vtol(void) bool QuadPlane::is_flying_vtol(void)
{ {
if (motors->get_throttle() > 0.01f) {
// if we are demanding more than 1% throttle then don't consider aircraft landed
return true;
}
if (plane.control_mode == QSTABILIZE || plane.control_mode == QHOVER || plane.control_mode == QLOITER) {
// in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
return plane.channel_throttle->get_control_in() > 0;
}
if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) { if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) {
// use landing detector
return true; return true;
} }
return false; return false;