Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: consider extended launch throttle delays 

use the greater of takeoff_throttle_delay+2s or 5s
This commit is contained in:
Tom Pittenger 2015-09-01 08:32:52 -07:00 committed by Andrew Tridgell
parent 4f46c5331a
commit fe083c8ffa
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduPlane/Attitude.cpp
View File

@ -576,12 +576,13 @@ bool Plane::suppress_throttle(void)
if (control_mode==AUTO &&
auto_state.takeoff_complete == false) {
uint32_t launch_duration_ms = ((int32_t)g.takeoff_throttle_delay)*100 + 2000;
if (is_flying() &&
millis() - started_flying_ms > 5000 && // been flying >5s in any mode
millis() - started_flying_ms > max(launch_duration_ms,5000) && // been flying >5s in any mode
adjusted_relative_altitude_cm() > 500) { // are >5m above AGL/home
// we're already flying, do not suppress the throttle. We can get
// stuck in this condition if we reset a mission and cmd 1 is takeoff
// but we're still flying around
// but we're currently flying around below the takeoff altitude
throttle_suppressed = false;
return false;
}