From 50c879c2d69e51ca59ba011801051ee24b40bf51 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 18 Oct 2018 10:26:20 -0400
Subject: [PATCH] land_detector: rover return not landed if disarmed
---
src/modules/land_detector/RoverLandDetector.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/modules/land_detector/RoverLandDetector.cpp b/src/modules/land_detector/RoverLandDetector.cpp
index 9d87f5ce6c..ede951f055 100644
--- a/src/modules/land_detector/RoverLandDetector.cpp
+++ b/src/modules/land_detector/RoverLandDetector.cpp
@@ -60,7 +60,7 @@ void RoverLandDetector::_update_params()
bool RoverLandDetector::_get_ground_contact_state()
{
- return false;
+ return true;
}
bool RoverLandDetector::_get_maybe_landed_state()
@@ -71,6 +71,10 @@ bool RoverLandDetector::_get_maybe_landed_state()
bool RoverLandDetector::_get_landed_state()
{
+ if (!_arming.armed) {
+ return true;
+ }
+
return false;
}
--
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