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inhibit failsafe on landing

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This commit is contained in:
breadoven 2024-06-12 23:12:48 +01:00
parent 9922e7d259
commit af8a561ed0
2 changed files with 15 additions and 14 deletions
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13
src/main/navigation/navigation.c
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@ -3321,10 +3321,6 @@ void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t bearing, int32_t d
*-----------------------------------------------------------*/
void updateLandingStatus(timeMs_t currentTimeMs)
{
if (STATE(AIRPLANE) && !navConfig()->general.flags.disarm_on_landing) {
return; // no point using this with a fixed wing if not set to disarm
}
static timeMs_t lastUpdateTimeMs = 0;
if ((currentTimeMs - lastUpdateTimeMs) <= HZ2MS(100)) { // limit update to 100Hz
return;
@ -3354,8 +3350,13 @@ void updateLandingStatus(timeMs_t currentTimeMs)
ENABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
disarm(DISARM_LANDING);
} else if (!navigationInAutomaticThrottleMode()) {
// for multirotor only - reactivate landing detector without disarm when throttle raised toward hover throttle
landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (currentBatteryProfile->nav.mc.hover_throttle + getThrottleIdleValue()));
if (STATE(AIRPLANE) && isFlightDetected()) {
// Cancel landing detection flag if fixed wing redetected in flight
resetLandingDetector();
} else {
// For multirotor - reactivate landing detector without disarm when throttle raised toward hover throttle
landingDetectorIsActive = rxGetChannelValue(THROTTLE) < (0.5 * (currentBatteryProfile->nav.mc.hover_throttle + getThrottleIdleValue()));
}
}
} else if (isLandingDetected()) {
ENABLE_STATE(LANDING_DETECTED);