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land_detector: Remove recently added vehicle_attitude.timestamp check from MulticopterLandDetector::_get_maybe_landed_state(). (#13072)

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PR #12681 added a check to the MulticopterLandDetector::_get_maybe_landed_state() method for a valid vehicle_attitude.timstamp value to finish work in PR #9756. It was discovered that the addition of that check leaves it possible to fly in acro mode without a valid attitude and auto-disarm can engage, allowing the multicopter to fall out of the sky.
This commit is contained in:
Mark Sauder
2019-10-02 16:31:06 -04:00
committed by Daniel Agar
parent d537f3ec6b
commit 508ffa1b39
1 changed files with 1 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+1 -1
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@@ -178,7 +178,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
const hrt_abstime now = hrt_absolute_time();
// When not armed, consider to be maybe-landed
if (!_actuator_armed.armed || (_vehicle_attitude.timestamp == 0)) {
if (!_actuator_armed.armed) {
return true;
}