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Plane: fix throttle when restarting mission in-flight with takeoff 

fixes https://github.com/diydrones/ardupilot/issues/2778
When executing a takeoff, and the throttle is suppressed, but we're already flying, we should unsuppress the throttle. We can get into this situation if we reset the mission in-flight.
This commit is contained in:
Tom Pittenger 2015-08-29 14:04:45 -07:00 committed by Andrew Tridgell
parent 0cc165308d
commit a3c51698cb
1 changed files with 10 additions and 0 deletions
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10
ArduPlane/Attitude.cpp
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@ -575,6 +575,16 @@ bool Plane::suppress_throttle(void)
if (control_mode==AUTO &&
auto_state.takeoff_complete == false) {
if (is_flying() &&
millis() - auto_state.started_flying_in_auto_ms > 5000 && // been flying >5s
adjusted_relative_altitude_cm() > 500) { // are >5m above AGL/home
// we're already flying, do not suppress the throttle. We can get
// stuck in this condition if we reset a mission and cmd 1 is takeoff
// but we're still flying around
throttle_suppressed = false;
return false;
}
if (auto_takeoff_check()) {
// we're in auto takeoff
throttle_suppressed = false;