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TradHeli: Bug Fix on Dynamic Flight / TakeOff Detector

This commit is contained in:
Robert Lefebvre 2013-07-18 16:30:12 -04:00 committed by Randy Mackay
parent 324c866ae1
commit e23e4bc7d8
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/ArduCopter.pde
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@ -2024,19 +2024,20 @@ static void check_dynamic_flight(void){
dynamic_flight=false;
return;
}
if (dynamic_flight_counter < 255){ // check if we're in dynamic flight mode
if (!ap.takeoff_complete){
set_takeoff_complete(true);
}
if (g.rc_3.servo_out > 800 || (labs(ahrs.pitch_sensor) > 2000)) {
if (dynamic_flight_counter < 100){ // check if we're in dynamic flight mode
if (g.rc_3.servo_out > 800 || (ahrs.pitch_sensor < -1500)) { // Nose down for forward flight. Remember, nose down is negative pitch.
if (!ap.takeoff_complete){
set_takeoff_complete(true);
}
dynamic_flight_counter++;
}
if (dynamic_flight_counter > 254){ // we must be in the air by now
if (dynamic_flight_counter > 99){ // we must be in the air by now
dynamic_flight = true;
}
}
if (dynamic_flight_counter > 0){
if ((labs(ahrs.roll_sensor) < 1500) && (labs(ahrs.pitch_sensor) < 1500)) {
if ((labs(ahrs.roll_sensor) < 1500) && (labs(ahrs.pitch_sensor) < 1200)) {
dynamic_flight_counter--;
}
if (dynamic_flight_counter < 1){