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Copter: guide mode fix for takeoff in attitude control submode

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It was not possible to takeoff when thrust was provided instead of climb rate (which is used depends upon DEV_OPTIONS)
This commit is contained in:
Randy Mackay 2020-10-19 14:49:32 +09:00
parent 7a90ed4bb5
commit ea7f850738
1 changed files with 3 additions and 2 deletions
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5
ArduCopter/mode_guided.cpp
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@ -613,12 +613,13 @@ void ModeGuided::angle_control_run()
}
// interpret positive climb rate or thrust as triggering take-off
if (motors->armed() && is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms)) {
const bool positive_thrust_or_climbrate = is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms);
if (motors->armed() && positive_thrust_or_climbrate) {
copter.set_auto_armed(true);
}
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) {
if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && !positive_thrust_or_climbrate)) {
make_safe_spool_down();
return;
}