Copter: increase chance that parachute will deploy #4787
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Previously a single moment where the vehicle was within 30deg of the target could cause the parachute release counter to reset to zero. This change makes the parachute release if it is spending at least half it's time with more than a 30degree angle error.
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Thanks,merged! |
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Previously a single moment where the vehicle was within 30deg of the target could cause the parachute release counter to reset to zero and thus delay the release for up to 1 second. This change makes the parachute release if it is spending at least half it's time with more than a 30degree angle error.
This partially resolves this issue: #4702
It's not a complete solution because the crash detector and the parachute deployment logic is still quite separate. Still, it greatly reduces the chance that the crash detector could fire before the parachute is released.