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ACM: Small fix to nav_throttle to prevent too fast of a landing.

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This commit is contained in:
Jason Short 2012-03-16 13:53:20 -07:00
parent d52b93849e
commit 234a5dc65e
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/ArduCopter.pde
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@ -1161,10 +1161,10 @@ static void fifty_hz_loop()
camera_stabilization();
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motor_armed)
Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_RAW)
if (g.log_bitmask & MASK_LOG_RAW && motor_armed)
Log_Write_Raw();
#endif
@ -1699,8 +1699,8 @@ void update_throttle_mode(void)
}
// hack to remove the influence of the ground effect
if(current_loc.alt < 200 && landing_boost != 0) {
nav_throttle = min(nav_throttle, 0);
if(g.sonar_enabled && current_loc.alt < 100 && landing_boost != 0) {
nav_throttle = min(nav_throttle, 0);
}
#if FRAME_CONFIG == HELI_FRAME