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VTOL QuadChute only if not landed

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This commit is contained in:
Daniel Agar
2016-09-21 08:36:00 +02:00
committed by Beat Küng
parent cfe59e74b2
commit 69ae0091b8
1 changed files with 5 additions and 2 deletions
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src/modules/vtol_att_control/vtol_type.cpp
+5 -2
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@@ -177,6 +177,7 @@ void VtolType::update_fw_state()
// only wait on TECS we're in a mode where it is actually running
if ((!_tecs_running || (_tecs_running && _fw_virtual_att_sp->timestamp <= _tecs_running_ts))
&& _v_control_mode->flag_control_altitude_enabled) {
waiting_on_tecs();
}
@@ -195,8 +196,10 @@ bool VtolType::can_transition_on_ground()
void VtolType::check_quadchute_condition()
{
// fixed-wing minimum altitude
if (_params->fw_min_alt > FLT_EPSILON && _armed->armed) {
// fixed-wing minimum altitude, armed, !landed
if (_params->fw_min_alt > FLT_EPSILON
&& _armed->armed && !_land_detected->landed) {
if (-(_local_pos->z) < _params->fw_min_alt) {
_attc->abort_front_transition("Minimum altitude");
}