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mc_rate_control: always allow landing gear control

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Except of course when landed and we try to put it up.
This commit is contained in:
Julian Oes
2021-06-17 10:58:39 +02:00
committed by Matthias Grob
parent 486a4b0118
commit 42af44700b
1 changed files with 1 additions and 2 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -2
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@@ -153,8 +153,7 @@ MulticopterRateControl::Run()
landing_gear_s landing_gear;
if (_landing_gear_sub.copy(&landing_gear)) {
if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP &&
_v_control_mode.flag_control_manual_enabled) {
if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
if (landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear")