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Copter: flag stays landed unless pilot raises throttle

This commit is contained in:
Ju1ien 2014-05-28 23:59:36 +02:00 committed by Randy Mackay
parent 9fcfea5404
commit abd1370b2c
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/control_land.pde
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@ -156,7 +156,7 @@ static float get_throttle_land()
static bool update_land_detector() static bool update_land_detector()
{ {
// detect whether we have landed by watching for low climb rate and minimum throttle // 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) { if (!ap.land_complete) {
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target) // 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) { if( land_detector < LAND_DETECTOR_TRIGGER) {
@ -166,7 +166,7 @@ static bool update_land_detector()
land_detector = 0; 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 // we've sensed movement up or down so reset land_detector
land_detector = 0; land_detector = 0;
if(ap.land_complete) { if(ap.land_complete) {