Remove recently added vehicle_attitude.timestamp check from MulticopterLandDetector::_get_maybe_landed_state(). #13072
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…erLandDetector::_get_maybe_landed_state().
dagar
approved these changes
Oct 2, 2019
mcsauder
changed the title
bkueng
reviewed
Oct 3, 2019
| @@ -178,7 +178,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state() | |||
| const hrt_abstime now = hrt_absolute_time(); | |||
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| // When not armed, consider to be maybe-landed | |||
| if (!_actuator_armed.armed || (_vehicle_attitude.timestamp == 0)) { | |||
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_vehicle_attitude is now unused and can be removed completely
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Describe problem solved by the proposed pull request
PR #12681 added a check to the
MulticopterLandDetector::_get_maybe_landed_state()method for a validvehicle_attitude.timstampvalue to finish work in PR #9756. It was discovered that the addition of that check leaves it possible to fly in acro mode without a valid attitude and auto-disarm can engage, allowing the multicopter to fall out of the sky.Test data / coverage
This simply PR restores the previous logic currently in v1.9.2.
Thanks @bkueng for making this issue known!
Please let me know if you have any questions on this PR. Thanks!
-Mark