fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 11:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: don't disarm on landing amid a mission

Browse Source
This commit is contained in:
Matthias Grob
2022-05-13 15:54:34 +02:00
parent 4f34207c4e
commit 0be474430c
1 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+4 -1
View File
@@ -2392,7 +2392,10 @@ Commander::run()
// Check for auto-disarm on landing or pre-flight
if (_param_com_disarm_land.get() > 0 || _param_com_disarm_preflight.get() > 0) {
if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming) {
const bool landed_amid_mission = (_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION)
&& !_mission_result_sub.get().finished;
if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming && !landed_amid_mission) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());