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TradHeli: Move Take-off Complete flag from the throttle controller, and into the Dynamic Flight check. This is to prevent false positive where the collective is pushed up before the motor is started.

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Robert Lefebvre 2013-07-18 15:50:06 -04:00 committed by Randy Mackay
parent c60ff46cc5
commit 2438330b40
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/ArduCopter.pde
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@ -1915,9 +1915,6 @@ void update_throttle_mode(void)
update_throttle_cruise(motors.coll_out);
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
// check if we've taken off yet
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
@ -1925,6 +1922,7 @@ void update_throttle_mode(void)
set_takeoff_complete(true);
}
}
#endif //HELI_FRAME
}
set_target_alt_for_reporting(0);
break;
@ -1942,14 +1940,13 @@ void update_throttle_mode(void)
update_throttle_cruise(motors.coll_out);
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}
#endif //HELI_FRAME
}
set_target_alt_for_reporting(0);
break;
@ -2028,6 +2025,9 @@ static void check_dynamic_flight(void){
return;
}
if (dynamic_flight_counter < 255){ // check if we're in dynamic flight mode
if (!ap.takeoff_complete){
set_takeoff_complete(true);
}
if (g.rc_3.servo_out > 800 || (labs(ahrs.pitch_sensor) > 2000)) {
dynamic_flight_counter++;
}