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Copter: disarm on landing regardless of pilot input

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This commit is contained in:
Randy Mackay 2014-12-27 13:33:06 +09:00
parent 4a1ba9b186
commit f2b0fc3566
2 changed files with 3 additions and 3 deletions
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2
ArduCopter/APM_Config.h
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@ -40,7 +40,7 @@
// other settings
//#define THROTTLE_IN_DEADBAND 100 // redefine size of throttle deadband in pwm (0 ~ 1000)
//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // when set to DISABLED vehicle will disarm after landing (in LAND mode or RTL) even if pilot has not put throttle to zero
//#define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED // when set to ENABLED vehicle will only disarm after landing (in AUTO, LAND or RTL) if pilot has put throttle to zero
//#define HIL_MODE HIL_MODE_SENSORS // build for hardware-in-the-loop simulation

4
ArduCopter/config.h
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@ -505,8 +505,8 @@
#ifndef LAND_DETECTOR_ROTATION_MAX
# define LAND_DETECTOR_ROTATION_MAX 0.50f // vehicle rotation must be below 0.5 rad/sec (=30deg/sec for) vehicle to consider itself landed
#endif
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
#ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM
# define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL
#endif
#ifndef LAND_REPOSITION_DEFAULT
# define LAND_REPOSITION_DEFAULT 1 // by default the pilot can override roll/pitch during landing