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Copter: Tradheli fix Land Detector. 

Tradheli does not use throttle_mix.
This commit is contained in:
Robert Lefebvre 2015-05-26 20:16:52 -04:00 committed by Randy Mackay
parent d8df31c023
commit c8a1e48f0c
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/land_detector.pde
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@ -21,8 +21,14 @@ static void update_land_detector()
// range finder : tend to be problematic at very short distances
// input throttle : in slow land the input throttle may be only slightly less than hover
#if FRAME_CONFIG == HELI_FRAME
// check that collective pitch is on lower limit (should be constrained by LAND_COL_MIN)
bool motor_at_lower_limit = motors.limit.throttle_lower;
#else
// check that the average throttle output is near minimum (less than 12.5% hover throttle)
bool motor_at_lower_limit = motors.limit.throttle_lower && motors.is_throttle_mix_min();
#endif
Vector3f accel_ef = ahrs.get_accel_ef_blended();
accel_ef.z += GRAVITY_MSS;