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Copter: Tradheli Mavlink Takeoff to fail if rotor not spinning.

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Robert Lefebvre 2015-07-01 08:32:40 -04:00 committed by Randy Mackay
parent e1902e2289
commit bc6deb5575
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/takeoff.cpp
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@ -28,6 +28,14 @@ bool Copter::current_mode_has_user_takeoff(bool must_navigate)
bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate) bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
{ {
if (motors.armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) { if (motors.armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
#if FRAME_CONFIG == HELI_FRAME
// Helicopters should return false if MAVlink takeoff command is received while the rotor is not spinning
if (!motors.rotor_runup_complete()){
return false;
}
#endif
switch(control_mode) { switch(control_mode) {
case GUIDED: case GUIDED:
set_auto_armed(true); set_auto_armed(true);