mirror of https://github.com/ArduPilot/ardupilot
Copter: flag stays landed unless pilot raises throttle
This commit is contained in:
parent
9fcfea5404
commit
abd1370b2c
|
@ -156,7 +156,7 @@ static float get_throttle_land()
|
|||
static bool update_land_detector()
|
||||
{
|
||||
// detect whether we have landed by watching for low climb rate and minimum throttle
|
||||
if (abs(climb_rate) < 20 && motors.limit.throttle_lower) {
|
||||
if (abs(climb_rate) < 40 && motors.limit.throttle_lower) {
|
||||
if (!ap.land_complete) {
|
||||
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
|
||||
if( land_detector < LAND_DETECTOR_TRIGGER) {
|
||||
|
@ -166,7 +166,7 @@ static bool update_land_detector()
|
|||
land_detector = 0;
|
||||
}
|
||||
}
|
||||
}else{
|
||||
} else if (g.rc_3.control_in != 0 || failsafe.radio) {
|
||||
// we've sensed movement up or down so reset land_detector
|
||||
land_detector = 0;
|
||||
if(ap.land_complete) {
|
||||
|
|
Loading…
Reference in New Issue