fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 21:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw pos ctrl: mark completed manual takeoff true if rotary wing and armed

Browse Source
This commit is contained in:
Thomas Stastny
2022-07-18 10:49:27 -04:00
committed by Daniel Agar
parent b4e066f056
commit 69bc5d37bc
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -2
View File
@@ -725,8 +725,9 @@ FixedwingPositionControl::updateManualTakeoffStatus()
if (!_completed_manual_takeoff) { if (!_completed_manual_takeoff) {
const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get() const bool at_controllable_airspeed = _airspeed > _param_fw_airspd_min.get()
|| !_airspeed_valid; || !_airspeed_valid;
_completed_manual_takeoff = !_landed const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& at_controllable_airspeed; && _control_mode.flag_armed;
_completed_manual_takeoff = (!_landed && at_controllable_airspeed) || is_hovering;
} }
} }