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Copter: fix heli pos-hold run-up-complete issue

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This commit is contained in:
Randy Mackay 2016-12-15 09:25:31 +09:00
parent 52ca752539
commit 9738e9bc3e
1 changed files with 12 additions and 0 deletions
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12
ArduCopter/control_poshold.cpp
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@ -75,6 +75,13 @@ static struct {
// poshold_init - initialise PosHold controller
bool Copter::poshold_init(bool ignore_checks)
{
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter Pos Hold if the Rotor Runup is not complete
if (!ignore_checks && !motors.rotor_runup_complete()){
return false;
}
#endif
// fail to initialise PosHold mode if no GPS lock
if (!position_ok() && !ignore_checks) {
return false;
@ -165,7 +172,12 @@ void Copter::poshold_run()
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
#if FRAME_CONFIG == HELI_FRAME
// helicopters are held on the ground until rotor speed runup has finished
if (ap.land_complete && (takeoff_state.running || (target_climb_rate > 0.0f && motors.rotor_runup_complete()))) {
#else
if (ap.land_complete && (takeoff_state.running || target_climb_rate > 0.0f)) {
#endif
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}