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Copter: fixed heli criterion for unsetting land_complete

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in order to honor H_LAND_COL_MIN we need to check if we have reached
the throttle lower limit
This commit is contained in:
Andrew Tridgell 2016-08-15 15:23:59 +10:00
parent a67b9372fd
commit e4564de837
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/land_detector.cpp
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@ -48,7 +48,7 @@ void Copter::update_land_detector()
} else if (ap.land_complete) {
#if FRAME_CONFIG == HELI_FRAME
// if rotor speed and collective pitch are high then clear landing flag
if (motors.get_throttle() > get_non_takeoff_throttle() && motors.rotor_runup_complete()) {
if (motors.get_throttle() > get_non_takeoff_throttle() && !motors.limit.throttle_lower && motors.rotor_runup_complete()) {
#else
// if throttle output is high then clear landing flag
if (motors.get_throttle() > get_non_takeoff_throttle()) {