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OP-1900 added deceleration check to autotakeoff failsafe
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@ -143,6 +143,10 @@ bool FixedWingAutoTakeoffController::isUnsafe(void)
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if (speed > maxVelocity) {
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maxVelocity = speed;
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}
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// too much total deceleration (crash, insufficient climbing power, ...)
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if (speed < maxVelocity - fixedWingSettings->SafetyCutoffLimits.MaxDecelerationDeltaMPS) {
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abort = true;
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}
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AttitudeStateData attitude;
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AttitudeStateGet(&attitude);
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// too much bank angle
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