In flight routine update #468
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| static inline void autopilot_check_in_flight( bool_t motors_on ) { | ||
| static int32_t accel_filter; |
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this variable is never set anywhere....
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Also this should probably be better integrated with the new autopilot_check_in_flight_no_rc Or we make a proper state machine for this right away.... but probably better to merge something that improves the situation if no one will work on a state machine for this soonish... |
| if (autopilot_in_flight_counter > 0) { | ||
| if (THROTTLE_STICK_DOWN()) { | ||
| if (THROTTLE_STICK_DOWN() && ((autopilot_mode == AP_MODE_HOVER_Z_HOLD | ||
| && (abs(ins_ltp_speed.z) < AP_IN_FLIGHT_MIN_SPEED) |
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maybe it is better to use the state interface rather than ins
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do you continue to look only at the RC, or should be take the throttle command instead ? |
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I guess it would make sense only look at the final throttle command and not the RC throttle. But I'm not quite sure how often this check should be called... I don't think it should be called from autopilot_periodic, as that runs with the main freq. I guess the failsafe_check task with 20Hz would be a sensible choice. |
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I agree that failsafe task is a good choice for this |
Simply checks if thrust, speed and acceleration are above a threshold. Does not rely on RC thrust command anymore, but only on actual thrust command. Not tested on real vehicle at all so far... Attempt to improve issue paparazzi#201 and replaces paparazzi#468
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closing in favour of #469, please test that one and propose improvements if not satisfactory |
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