fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 04:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL land detector: trigger land detector in fixed-wing mode if disarmed.

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-09-10 13:46:43 +02:00
committed by Roman Bapst
parent a8fbe6bba2
commit 1b2403a87f
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/VtolLandDetector.cpp
+4 -4
View File
@@ -59,9 +59,9 @@ void VtolLandDetector::_update_topics()
bool VtolLandDetector::_get_maybe_landed_state() bool VtolLandDetector::_get_maybe_landed_state()
{ {
// Only trigger in RW mode // If in Fixed-wing mode, only trigger if disarmed
if ((_vehicle_status.timestamp != 0) && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { if ((_vehicle_status.timestamp != 0) && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return false; return !_actuator_armed.armed;
} }
return MulticopterLandDetector::_get_maybe_landed_state(); return MulticopterLandDetector::_get_maybe_landed_state();
@@ -69,9 +69,9 @@ bool VtolLandDetector::_get_maybe_landed_state()
bool VtolLandDetector::_get_landed_state() bool VtolLandDetector::_get_landed_state()
{ {
// Only trigger in RW mode // If in Fixed-wing mode, only trigger if disarmed
if ((_vehicle_status.timestamp != 0) && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { if ((_vehicle_status.timestamp != 0) && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return false; return !_actuator_armed.armed;
} }
// this is returned from the mutlicopter land detector // this is returned from the mutlicopter land detector