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Commander: Disarm after 5 seconds on the ground.

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Lorenz Meier
2015-10-29 23:00:17 +01:00
committed by Roman
parent 8d59d08ad6
commit 29db75fe56
1 changed files with 11 additions and 0 deletions
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src/modules/commander/commander.cpp
+11
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@@ -183,6 +183,7 @@ static hrt_abstime commander_boot_timestamp = 0;
static unsigned int leds_counter; static unsigned int leds_counter;
/* To remember when last notification was sent */ /* To remember when last notification was sent */
static uint64_t last_print_mode_reject_time = 0; static uint64_t last_print_mode_reject_time = 0;
static uint64_t _inair_last_time = 0;
static float eph_threshold = 5.0f; static float eph_threshold = 5.0f;
static float epv_threshold = 10.0f; static float epv_threshold = 10.0f;
@@ -1639,6 +1640,16 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_critical(mavlink_fd, "TAKEOFF DETECTED"); mavlink_log_critical(mavlink_fd, "TAKEOFF DETECTED");
} }
} }
if (land_detector.landed) {
if (_inair_last_time > 0 && ((hrt_absolute_time() - _inair_last_time) > 5 * 1000 * 1000)) {
mavlink_log_critical(mavlink_fd, "AUTO DISARMING AFTER LANDING");
arm_disarm(false, mavlink_fd, "auto disarm on land");
_inair_last_time = 0;
}
} else {
_inair_last_time = land_detector.timestamp;
}
} }
/* update battery status */ /* update battery status */