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Copter: Force Flying check for Heli

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Leonard Hall 2022-02-02 09:02:32 +10:30 committed by Randy Mackay
parent 23711b7b10
commit 7369d18abf
1 changed files with 5 additions and 2 deletions
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7
ArduCopter/land_detector.cpp
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@ -65,8 +65,11 @@ void Copter::update_land_detector()
// because multi's use throttle), check that collective pitch is below land min collective position or throttle stick is zero.
// Including the throttle zero check will ensure the conditions where stabilize stick zero position was not below collective min. 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_land_min_coll() || heli_flags.coll_stk_low) &&
fabsf(ahrs.get_roll()) < M_PI/2.0f) || (motors->limit.throttle_lower && pos_control->get_vel_desired_cms().z < 0.0f));
// check if landing
const bool landing = flightmode->is_landing();
bool motor_at_lower_limit = (flightmode->has_manual_throttle() && (motors->get_below_land_min_coll() || heli_flags.coll_stk_low) && fabsf(ahrs.get_roll()) < M_PI/2.0f)
|| ((!force_flying || landing) && 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)
bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();