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This commit is contained in:
breadoven 2022-12-01 12:38:54 +00:00
parent 4f49dfb621
commit a7cef4708e
11 changed files with 40 additions and 45 deletions
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3
src/main/navigation/navigation_fixedwing.c
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@ -685,12 +685,11 @@ bool isFixedWingLandingDetected(void)
{
DEBUG_SET(DEBUG_LANDING, 4, 0);
static bool fixAxisCheck = false;
const bool throttleIsLow = calculateThrottleStatus(THROTTLE_STATUS_TYPE_RC) == THROTTLE_LOW;
// Basic condition to start looking for landing
bool startCondition = (navGetCurrentStateFlags() & (NAV_CTL_LAND | NAV_CTL_EMERG))
|| FLIGHT_MODE(FAILSAFE_MODE)
|| (!navigationIsControllingThrottle() && throttleIsLow);
|| (!navigationIsControllingThrottle() && throttleStickIsLow());
if (!startCondition || posControl.flags.resetLandingDetector) {
return fixAxisCheck = posControl.flags.resetLandingDetector = false;