From e4564de837820350fdd9b313a21a0566525eb519 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 15 Aug 2016 15:23:59 +1000 Subject: [PATCH] Copter: fixed heli criterion for unsetting land_complete in order to honor H_LAND_COL_MIN we need to check if we have reached the throttle lower limit --- ArduCopter/land_detector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp index f2a0093b2a..17e68d53ac 100644 --- a/ArduCopter/land_detector.cpp +++ b/ArduCopter/land_detector.cpp @@ -48,7 +48,7 @@ void Copter::update_land_detector() } else if (ap.land_complete) { #if FRAME_CONFIG == HELI_FRAME // if rotor speed and collective pitch are high then clear landing flag - if (motors.get_throttle() > get_non_takeoff_throttle() && motors.rotor_runup_complete()) { + if (motors.get_throttle() > get_non_takeoff_throttle() && !motors.limit.throttle_lower && motors.rotor_runup_complete()) { #else // if throttle output is high then clear landing flag if (motors.get_throttle() > get_non_takeoff_throttle()) {