[fix] alternate in_flight detectors need motors_on.

paparazzi · Sep 26, 2023 · bd3e8d0 · bd3e8d0
1 parent a0e8dfa
commit bd3e8d0
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -89,7 +89,7 @@ bool WEAK autopilot_ground_detection(void) {
 
 
 /** Default end-of-in-flight detection estimation based on thrust and speed */
-bool WEAK autopilot_in_flight_end_detection(void) {
+bool WEAK autopilot_in_flight_end_detection(bool motors_on UNUSED) {
   if (autopilot_in_flight_counter > 0) {
     /* probably in_flight if thrust, speed and accel above IN_FLIGHT_MIN thresholds */
     if ((stabilization_cmd[COMMAND_THRUST] <= AUTOPILOT_IN_FLIGHT_MIN_THRUST) &&
@@ -282,7 +282,7 @@ void autopilot_reset_in_flight_counter(void)
 void autopilot_check_in_flight(bool motors_on)
 {
   if (autopilot.in_flight) {
-    if (autopilot_in_flight_end_detection()) {
+    if (autopilot_in_flight_end_detection(motors_on)) {
       autopilot.in_flight = false;
       autopilot_in_flight_counter = 0;
     }

diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.h b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.h
@@ -37,7 +37,7 @@ extern uint8_t autopilot_mode_auto2;
 extern bool autopilot_ground_detection(void);
 
 // Detect the end of in_flight and stop integrators in control loops
-extern bool autopilot_in_flight_end_detection(void);
+extern bool autopilot_in_flight_end_detection(bool motors_on);
 
 extern void autopilot_firmware_init(void);