Do not kill a quadplane inflight

paparazzi · Sep 25, 2023 · aa68157 · aa68157
1 parent be32e54
commit aa68157
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -259,7 +259,8 @@ void autopilot_check_in_flight(bool motors_on)
       /* probably in_flight if thrust, speed and accel above IN_FLIGHT_MIN thresholds */
       if ((stabilization_cmd[COMMAND_THRUST] <= AUTOPILOT_IN_FLIGHT_MIN_THRUST) &&
           (fabsf(stateGetSpeedNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_SPEED) &&
-          (fabsf(stateGetAccelNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_ACCEL)) {
+          (fabsf(stateGetAccelNed_f()->z) < AUTOPILOT_IN_FLIGHT_MIN_ACCEL) &&
+          !motors_on) {
         autopilot_in_flight_counter--;
         if (autopilot_in_flight_counter == 0) {
           autopilot.in_flight = false;