zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Copter: Guided prevent takeoff without takeoff command.

c415-sdk
Leonard Hall 4 years ago committed by Randy Mackay
parent
52166c94fe
commit
9f1cf90160
1 changed files with 0 additions and 22 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 22
      ArduCopter/mode_guided.cpp

22
ArduCopter/mode_guided.cpp
Unescape View File

@ -606,17 +606,6 @@ void ModeGuided::accel_control_run() @@ -606,17 +606,6 @@ void ModeGuided::accel_control_run()
}
}
// landed with positive desired climb rate, initiate takeoff
if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
zero_throttle_and_relax_ac();
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
set_land_complete(false);
set_throttle_takeoff();
}
return;
}
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_spool_down();
@ -677,17 +666,6 @@ void ModeGuided::velaccel_control_run() @@ -677,17 +666,6 @@ void ModeGuided::velaccel_control_run()
}
}
// landed with positive desired climb rate, initiate takeoff
if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
zero_throttle_and_relax_ac();
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
set_land_complete(false);
set_throttle_takeoff();
}
return;
}
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_spool_down();

Write Preview
Loading…
Cancel
Save