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Qplane auto disarm #6475

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Qplane auto disarm #6475

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15 changes: 13 additions & 2 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2157,11 +2157,23 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
*/
void QuadPlane::check_land_complete(void)
{
const uint32_t now = AP_HAL::millis();

if (poscontrol.state == QPOS_LAND_COMPLETE &&
plane.arming.is_armed() &&
plane.landing.get_disarm_delay() > 0 &&
now - landing_detect.lower_limit_start_ms >= plane.landing.get_disarm_delay()*1000UL) {
// disarm after user-defined delay
if (plane.disarm_motors()) {
gcs().send_text(MAV_SEVERITY_INFO,"Auto disarmed");
}
}

if (poscontrol.state != QPOS_LAND_FINAL) {
// only apply to final landing phase
return;
}
const uint32_t now = AP_HAL::millis();

bool might_be_landed = (landing_detect.lower_limit_start_ms != 0 &&
now - landing_detect.lower_limit_start_ms > 1000);
if (!might_be_landed) {
Expand Down Expand Up @@ -2190,7 +2202,6 @@ void QuadPlane::check_land_complete(void)
landing_detect.land_start_ms = 0;
// motors have been at zero for 5s, and we have had less than 0.3m
// change in altitude for last 4s. We are landed.
plane.disarm_motors();
poscontrol.state = QPOS_LAND_COMPLETE;
gcs().send_text(MAV_SEVERITY_INFO,"Land complete");
// reload target airspeed which could have been modified by the mission
Expand Down