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Copter: Don't auto-disarm helicopters if rotor is still spinning.

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Fredrik Hedberg 2015-11-06 23:36:56 +01:00 committed by Randy Mackay
parent 5ff67a41a1
commit a6d2e0d4df
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/motors.cpp
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@ -82,6 +82,14 @@ void Copter::auto_disarm_check()
return;
}
#if FRAME_CONFIG == HELI_FRAME
// if the rotor is still spinning, don't initiate auto disarm
if (motors.rotor_speed_above_critical()) {
auto_disarming_counter = 0;
return;
}
#endif
// always allow auto disarm if using interlock switch or motors are Emergency Stopped
if ((ap.using_interlock && !motors.get_interlock()) || ap.motor_emergency_stop) {
#if FRAME_CONFIG != HELI_FRAME