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Plane: Fix failure to disarm after landing in strong winds

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Paul Riseborough 2020-12-13 13:14:27 +11:00 committed by Andrew Tridgell
parent 6d6ec44d59
commit a1bde16abd
1 changed files with 3 additions and 2 deletions
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ArduPlane/is_flying.cpp
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@ -48,8 +48,9 @@ void Plane::update_is_flying_5Hz(void)
// we've flown before, remove GPS constraints temporarily and only use airspeed
is_flying_bool = airspeed_movement; // moving through the air
} else {
// we've never flown yet, require good GPS movement
is_flying_bool = airspeed_movement || // moving through the air
// Because ahrs.airspeed_estimate can return a continued high value after landing if flying in
// strong winds above stall speed it is necessary to include the IMU based movement check.
is_flying_bool = (airspeed_movement && !AP::ins().is_still()) || // moving through the air
gps_confirmed_movement; // locked and we're moving
}