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Removed references to a takeoff timer

This commit is contained in:
Jason Short 2012-05-29 11:28:40 -07:00
parent 15774366ba
commit f491f5e9ca
1 changed files with 1 additions and 16 deletions
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17
ArduCopter/ArduCopter.pde
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@ -674,8 +674,6 @@ static byte throttle_mode;
// We must be in the air with throttle for 5 seconds before this flag is true
// This flag is reset when we are in a manual throttle mode with 0 throttle or disarmed
static boolean takeoff_complete;
// Used to record the most recent time since we enaged the throttle to take off
static uint32_t takeoff_timer;
// Used to see if we have landed and if we should shut our engines - not fully implemented
static boolean land_complete = true;
// used to manually override throttle in interactive Alt hold modes
@ -1625,26 +1623,13 @@ void update_throttle_mode(void)
#endif
if (takeoff_complete == false && motors.armed()){
if ((g.rc_3.control_in > g.throttle_cruise)){
if (g.rc_3.control_in > g.throttle_cruise){
// we must be in the air by now
takeoff_complete = true;
}
}
}else{
// we are on the ground
//takeoff_complete = false;
// reset baro data if we are near home
if(home_distance < 400 || GPS_enabled == false){ // 4m from home
// causes Baro to do a quick recalibration
// XXX commented until further testing
// reset_baro();
}
// remember our time since takeoff
// -------------------------------
takeoff_timer = millis();
// make sure we also request 0 throttle out
// so the props stop ... properly