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Plane: fixed use of HAL soft_armed

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This commit is contained in:
Andrew Tridgell 2015-03-13 11:20:43 +11:00
parent 659904bf65
commit dc9e2a54f3
1 changed files with 4 additions and 7 deletions
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11
ArduPlane/ArduPlane.pde
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@ -1561,7 +1561,7 @@ static void determine_is_flying(void)
gps.ground_speed() >= 5);
if(arming.is_armed()) {
if (hal.util->get_soft_armed()) {
// when armed, we need overwhelming evidence that we ARE NOT flying
isFlyingBool = airspeedMovement || gpsMovement;
@ -1576,16 +1576,13 @@ static void determine_is_flying(void)
static bool is_flying(void)
{
if(arming.is_armed()) {
if (hal.util->get_soft_armed()) {
// when armed, assume we're flying unless we probably aren't
return (isFlyingProbability >= 0.1f);
}
else
{
// when disarmed, assume we're not flying unless we probably are
return (isFlyingProbability >= 0.9f);
}
// when disarmed, assume we're not flying unless we probably are
return (isFlyingProbability >= 0.9f);
}