fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-20 12:29:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: allow disarming in ACRO without landing (as in MANUAL)

Browse Source
This commit is contained in:
Anton Babushkin 2014-02-01 11:25:29 +01:00
parent 3651552b53
commit 2923bdf39f
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/commander/commander.cpp
View File

@ -1120,7 +1120,7 @@ int commander_thread_main(int argc, char *argv[])
* do it only for rotary wings */
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
(status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {