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Base QuadChute on local_pos.z and only when armed

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sander
2016-05-21 13:49:14 +00:00
committed by Roman
parent bb0b7f2632
commit 832e1003c2
1 changed files with 5 additions and 4 deletions
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src/modules/vtol_att_control/standard.cpp
+5 -4
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@@ -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();
}
}