Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: land mode will surface the craft

This commit is contained in:
jaxxzer 2016-03-06 17:39:32 -05:00 committed by Andrew Tridgell
parent fa4adee7a0
commit ceab2ae759
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduSub/control_land.cpp
View File

@ -157,7 +157,7 @@ void Sub::land_nogps_run()
}
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately
if(!ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
if(!ap.auto_armed || ap.at_surface || !motors.get_interlock()) {
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -168,8 +168,8 @@ void Sub::land_nogps_run()
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
if (ap.at_surface) {
set_mode(ALT_HOLD);
}
#endif
return;