From 4531176729185452d9f4848bf1b384a15ef3efba Mon Sep 17 00:00:00 2001
From: zbr <zbr3550@sina.com>
Date: Fri, 5 Nov 2021 15:07:56 +0800
Subject: [PATCH] =?UTF-8?q?=E5=9D=A0=E6=9C=BA=E4=BF=9D=E6=8A=A4=E8=B0=83?=
 =?UTF-8?q?=E6=95=B4=EF=BC=8C=E8=AE=A1=E6=97=B63s=EF=BC=8C=E5=8F=96?=
 =?UTF-8?q?=E6=B6=88=E5=B1=8F=E8=94=BDdisarm?=
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---
 ArduCopter/crash_check.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
index 80689b6cb2..0b3471f500 100644
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@@ -1,7 +1,7 @@
 #include "Copter.h"
 
 // Code to detect a crash main ArduCopter code
-#define CRASH_CHECK_TRIGGER_SEC         5       // 2 seconds inverted indicates a crash
+#define CRASH_CHECK_TRIGGER_SEC         3       // 3 seconds inverted indicates a crash
 #define CRASH_CHECK_ANGLE_DEVIATION_DEG 30.0f   // 30 degrees beyond angle max is signal we are inverted
 #define CRASH_CHECK_ACCEL_MAX           3.0f    // vehicle must be accelerating less than 3m/s/s to be considered crashed
 #define CRASH_CHECK_ANGLE_MIN_DEG       15.0f   // vehicle must be leaning at least 15deg to trigger crash check
@@ -85,11 +85,7 @@ void Copter::crash_check()
         // send message to gcs
         gcs().send_text(MAV_SEVERITY_EMERGENCY,"坠机:锁定");//Crash: Disarming
         // disarm motors
-        if(g.zr_use_rc != 2){
-            copter.arming.disarm();
-        }else{
-            crash_counter = 0;
-        }
+        copter.arming.disarm();
     }
 }