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Copter: guided mode fix for landing detector internal error

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This commit is contained in:
Randy Mackay 2024-04-22 14:33:45 +09:00
parent 0eded27a9f
commit 6f6bc21e2e
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/mode_guided.cpp
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@ -960,8 +960,8 @@ void ModeGuided::angle_control_run()
}
// TODO: use get_alt_hold_state
// landed with positive desired climb rate, takeoff
if (copter.ap.land_complete && (guided_angle_state.climb_rate_cms > 0.0f)) {
// landed with positive desired climb rate or thrust, takeoff
if (copter.ap.land_complete && positive_thrust_or_climbrate) {
zero_throttle_and_relax_ac();
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {