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Copter: guided mode fix for landing detector internal error #26866

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Merged
merged 2 commits into from
Apr 23, 2024
Merged

Copter: guided mode fix for landing detector internal error #26866

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56be046
Copter: guided mode fix for landing detector internal error
rmackay9 Apr 22, 2024
e74a8eb
Tools: enable GuidedModeThrust autotest
rmackay9 Apr 22, 2024
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4 changes: 2 additions & 2 deletions ArduCopter/mode_guided.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -960,8 +960,8 @@ void ModeGuided::angle_control_run()
}

// TODO: use get_alt_hold_state
// landed with positive desired climb rate, takeoff
if (copter.ap.land_complete && (guided_angle_state.climb_rate_cms > 0.0f)) {
// landed with positive desired climb rate or thrust, takeoff
if (copter.ap.land_complete && positive_thrust_or_climbrate) {
zero_throttle_and_relax_ac();
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
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1 change: 0 additions & 1 deletion Tools/autotest/arducopter.py
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Expand Up @@ -11020,7 +11020,6 @@ def disabled_tests(self):
"GroundEffectCompensation_touchDownExpected": "Flapping",
"FlyMissionTwice": "See https://github.com/ArduPilot/ardupilot/pull/18561",
"GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion",
"GuidedModeThrust": "land detector raises internal error as we're not saying we're about to take off but just did",
"CompassMot": "Cuases an arithmetic exception in the EKF",
}

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