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Code Issues Releases Activity

OP-1900 added deceleration check to autotakeoff failsafe

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This commit is contained in:
Corvus Corax 2015-06-04 11:28:51 +02:00
parent 23f9f4d9c9
commit 23dab7e0b6
1 changed files with 4 additions and 0 deletions
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4
flight/modules/PathFollower/fixedwingautotakeoffcontroller.cpp
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@ -143,6 +143,10 @@ bool FixedWingAutoTakeoffController::isUnsafe(void)
if (speed > maxVelocity) { if (speed > maxVelocity) {
maxVelocity = speed; maxVelocity = speed;
} }
// too much total deceleration (crash, insufficient climbing power, ...)
if (speed < maxVelocity - fixedWingSettings->SafetyCutoffLimits.MaxDecelerationDeltaMPS) {
abort = true;
}
AttitudeStateData attitude; AttitudeStateData attitude;
AttitudeStateGet(&attitude); AttitudeStateGet(&attitude);
// too much bank angle // too much bank angle