From 832e1003c289953d28859bec200b442934ef7238 Mon Sep 17 00:00:00 2001 From: sander Date: Sat, 21 May 2016 13:49:14 +0000 Subject: [PATCH] Base QuadChute on local_pos.z and only when armed --- src/modules/vtol_att_control/standard.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 78c8bb119c..83efa6fb59 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -263,8 +263,8 @@ void Standard::update_transition_state() } // quadchute - if(_params_standard.fw_minimum_altitude > FLT_EPSILON){ - if(_local_pos->dist_bottom < _params_standard.fw_minimum_altitude){ + if(_params_standard.fw_minimum_altitude > FLT_EPSILON && _armed->armed){ + if(-(_local_pos->z) < _params_standard.fw_minimum_altitude){ _attc->abort_front_transition(); } } @@ -375,8 +375,9 @@ void Standard::update_fw_state() } // quadchute - if(_params_standard.fw_minimum_altitude > FLT_EPSILON){ - if(_local_pos->dist_bottom < _params_standard.fw_minimum_altitude){ + if(_params_standard.fw_minimum_altitude > FLT_EPSILON && _armed->armed){ + printf("z: %f min %f\n", (double)_local_pos->z, (double)_params_standard.fw_minimum_altitude); + if(-(_local_pos->z) < _params_standard.fw_minimum_altitude){ _attc->abort_front_transition(); } }