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Plane: disable crash detection if no GPS and no airspeed

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This commit is contained in:
Andrew Tridgell 2018-09-06 08:43:41 +10:00
parent b660022b20
commit 987b556299
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/is_flying.cpp
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@ -278,6 +278,12 @@ void Plane::crash_detection_update(void)
crash_state.checkedHardLanding = false; crash_state.checkedHardLanding = false;
} }
// if we have no GPS lock and we don't have a functional airspeed
// sensor then don't do crash detection
if (gps.status() < AP_GPS::GPS_OK_FIX_3D && (!airspeed.use() || !airspeed.healthy())) {
crashed = false;
}
if (!crashed) { if (!crashed) {
// reset timer // reset timer
crash_state.debounce_timer_ms = 0; crash_state.debounce_timer_ms = 0;