From 23dab7e0b650ebe6af98d1d5b4e8e9417716203a Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Thu, 4 Jun 2015 11:28:51 +0200
Subject: [PATCH] OP-1900 added deceleration check to autotakeoff failsafe

---
 flight/modules/PathFollower/fixedwingautotakeoffcontroller.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/flight/modules/PathFollower/fixedwingautotakeoffcontroller.cpp b/flight/modules/PathFollower/fixedwingautotakeoffcontroller.cpp
index d50d3318e..509805178 100644
--- a/flight/modules/PathFollower/fixedwingautotakeoffcontroller.cpp
+++ b/flight/modules/PathFollower/fixedwingautotakeoffcontroller.cpp
@@ -143,6 +143,10 @@ bool FixedWingAutoTakeoffController::isUnsafe(void)
     if (speed > maxVelocity) {
         maxVelocity = speed;
     }
+    // too much total deceleration (crash, insufficient climbing power, ...)
+    if (speed < maxVelocity - fixedWingSettings->SafetyCutoffLimits.MaxDecelerationDeltaMPS) {
+        abort = true;
+    }
     AttitudeStateData attitude;
     AttitudeStateGet(&attitude);
     // too much bank angle
-- 
2.11.4.GIT