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Copter: fix the defined value for parachute check

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This commit is contained in:
Tatsuya Yamaguchi 2022-02-10 12:58:26 +09:00 committed by Peter Barker
parent f4e71b40d1
commit a40e020813
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/crash_check.cpp
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@ -233,7 +233,7 @@ void Copter::yaw_imbalance_check()
// Code to detect a crash main ArduCopter code
#define PARACHUTE_CHECK_TRIGGER_SEC 1 // 1 second of loss of control triggers the parachute
#define PARACHUTE_CHECK_ANGLE_DEVIATION_CD 3000 // 30 degrees off from target indicates a loss of control
#define PARACHUTE_CHECK_ANGLE_DEVIATION_DEG 30.0f // 30 degrees off from target indicates a loss of control
// parachute_check - disarms motors and triggers the parachute if serious loss of control has been detected
// vehicle is considered to have a "serious loss of control" by the vehicle being more than 30 degrees off from the target roll and pitch angles continuously for 1 second
@ -295,7 +295,7 @@ void Copter::parachute_check()
// check for angle error over 30 degrees
const float angle_error = attitude_control->get_att_error_angle_deg();
if (angle_error <= CRASH_CHECK_ANGLE_DEVIATION_DEG) {
if (angle_error <= PARACHUTE_CHECK_ANGLE_DEVIATION_DEG) {
if (control_loss_count > 0) {
control_loss_count--;
}