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Copter: fence breach causes disarm if landed

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Previously it would only disarm if the throttle was also at zero.
Pair programmed with Tridge
This commit is contained in:
Randy Mackay 2014-10-16 14:09:02 +09:00
parent 26f7ab49e3
commit 7bd8d48809
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/fence.pde
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@ -28,9 +28,9 @@ void fence_check()
// if the user wants some kind of response and motors are armed // if the user wants some kind of response and motors are armed
if(fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY ) { if(fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY ) {
// disarm immediately if we think we are on the ground // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
// don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
if(ap.land_complete || manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0)){ if (ap.land_complete || (manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
init_disarm_motors(); init_disarm_motors();
}else{ }else{
// if we are within 100m of the fence, RTL // if we are within 100m of the fence, RTL