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Commander: start timer for auto disarm after spoolup

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This commit is contained in:
Matthias Grob
2024-12-17 19:28:20 +01:00
parent 2506bd3b5d
commit 5e2848312d
2 changed files with 3 additions and 2 deletions
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src/modules/commander/Commander.cpp
+2 -1
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@@ -2268,7 +2268,8 @@ void Commander::handleAutoDisarm()
_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
} else if (_param_com_disarm_prflt.get() > 0 && !_have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_prflt.get() * 1_s);
_auto_disarm_landed.set_hysteresis_time_from(false,
(_param_com_spoolup_time.get() + _param_com_disarm_prflt.get()) * 1_s);
_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
}