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Sub: land mode will surface the craft

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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
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6
ArduSub/control_land.cpp
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@ -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 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 // multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
@ -168,8 +168,8 @@ void Sub::land_nogps_run()
} }
#else #else
// disarm when the landing detector says we've landed // disarm when the landing detector says we've landed
if (ap.land_complete) { if (ap.at_surface) {
init_disarm_motors(); set_mode(ALT_HOLD);
} }
#endif #endif
return; return;