aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: change method name to get_below_land_min_coll

Browse Source
This commit is contained in:
Bill Geyer 2021-10-29 08:41:05 -04:00 committed by Bill Geyer
parent 183b5e9e6d
commit 3926b56df0
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/land_detector.cpp
View File

@ -64,7 +64,7 @@ void Copter::update_land_detector()
// check for both manual collective modes and modes that use altitude hold. For manual collective (called throttle
// because multi's use throttle), check that collective pitch is below mid collective (zero thrust) position. For modes
// that use altitude hold, check that the pilot is commanding a descent and collective is at min allowed for altitude hold modes.
bool motor_at_lower_limit = ((flightmode->has_manual_throttle() && motors->get_below_mid_collective() && fabsf(ahrs.get_roll()) < M_PI/2.0f)
bool motor_at_lower_limit = ((flightmode->has_manual_throttle() && motors->get_below_land_min_coll() && fabsf(ahrs.get_roll()) < M_PI/2.0f)
|| (motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f));
#else
// check that the average throttle output is near minimum (less than 12.5% hover throttle)