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Plane: simulator sets is_crashed

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due to zero-ish vibration in SITL, the is_flying check thinks you're not flying, and this thinks you crashed. This is a SITL specific problem but it brings to light that *if* someone actually had a very low vibration aircraft we don't want to crash them. So, the vibe test has been removed for now. A better test is a variance on the accel
This commit is contained in:
Tom Pittenger 2015-08-24 00:32:41 -07:00
parent 6caea9e07c
commit e1d566f9e7
1 changed files with 1 additions and 5 deletions
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6
ArduPlane/is_flying.cpp
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@ -23,11 +23,7 @@ void Plane::update_is_flying_5Hz(void)
// airspeed at least 75% of stall speed?
bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f));
if (ins.is_still()) {
// if motionless, we can't possibly be flying. This is a very strict test
is_flying_bool = false;
}
else if(arming.is_armed()) {
if(arming.is_armed()) {
// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
// short drop-outs of GPS are common during flight due to banking which points the antenna in different directions