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Copter: Guided prevent takeoff without takeoff command.

This commit is contained in:
Leonard Hall 2021-07-08 13:39:36 +09:30 committed by Randy Mackay
parent 52166c94fe
commit 9f1cf90160
1 changed files with 0 additions and 22 deletions
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22
ArduCopter/mode_guided.cpp
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@ -606,17 +606,6 @@ void ModeGuided::accel_control_run()
} }
} }
// landed with positive desired climb rate, initiate takeoff
if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
zero_throttle_and_relax_ac();
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
set_land_complete(false);
set_throttle_takeoff();
}
return;
}
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) { if (is_disarmed_or_landed()) {
make_safe_spool_down(); make_safe_spool_down();
@ -677,17 +666,6 @@ void ModeGuided::velaccel_control_run()
} }
} }
// landed with positive desired climb rate, initiate takeoff
if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
zero_throttle_and_relax_ac();
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
set_land_complete(false);
set_throttle_takeoff();
}
return;
}
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) { if (is_disarmed_or_landed()) {
make_safe_spool_down(); make_safe_spool_down();