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Copter: tighten auto_takeoff_complete checks

apm_2208
Leonard Hall 3 years ago committed by Randy Mackay
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93cff95448
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cf5565f17c
1 changed files with 1 additions and 1 deletions
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  1. 2
      ArduCopter/takeoff.cpp

2
ArduCopter/takeoff.cpp
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@ -180,7 +180,7 @@ void Mode::auto_takeoff_run()
// handle takeoff completion // handle takeoff completion
bool reached_altitude = (copter.pos_control->get_pos_target_z_cm() - auto_take_off_start_alt_cm) >= ((auto_take_off_complete_alt_cm - auto_take_off_start_alt_cm) * 0.90); bool reached_altitude = (copter.pos_control->get_pos_target_z_cm() - auto_take_off_start_alt_cm) >= ((auto_take_off_complete_alt_cm - auto_take_off_start_alt_cm) * 0.90);
bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * 0.5; bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * 0.1;
auto_takeoff_complete = reached_altitude && reached_climb_rate; auto_takeoff_complete = reached_altitude && reached_climb_rate;
// calculate completion for location in case it is needed for a smooth transition to wp_nav // calculate completion for location in case it is needed for a smooth transition to wp_nav

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