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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 16:42:11 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 16:42:11 +0200 |
| commit | 559bfbb11cdac499cda8070c32e2b7e79b3b883e (patch) | |
| tree | ff5347568934ea982c995f4fa7af0c614edde8d2 /src/modules/commander/commander.cpp | |
| parent | d8ef397b07280a2631076c2f92b950d64684a8ed (diff) | |
| download | px4-firmware-559bfbb11cdac499cda8070c32e2b7e79b3b883e.tar.gz px4-firmware-559bfbb11cdac499cda8070c32e2b7e79b3b883e.tar.bz2 px4-firmware-559bfbb11cdac499cda8070c32e2b7e79b3b883e.zip | |
commander: allow disarm in ACRO mode
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 8336bcf32..45ef79d7c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1192,7 +1192,7 @@ int commander_thread_main(int argc, char *argv[]) * do it only for rotary wings */ if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && - (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && + (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) && sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { |