Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: allow for new guided destination during guided takeoff 

if you set a very high alt for takeoff this is useful
This commit is contained in:
Andrew Tridgell 2021-09-17 08:46:03 +10:00
parent b6449f41c2
commit 0160782857
2 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/commands.cpp
View File

@ -99,6 +99,9 @@ void Plane::set_guided_WP(void)
auto_state.vtol_loiter = false; auto_state.vtol_loiter = false;
loiter_angle_reset(); loiter_angle_reset();
// cancel pending takeoff
quadplane.guided_takeoff = false;
} }
/* /*

4
ArduPlane/quadplane.cpp
View File

@ -2508,6 +2508,10 @@ bool QuadPlane::in_vtol_mode(void) const
poscontrol.get_state() > QPOS_APPROACH) { poscontrol.get_state() > QPOS_APPROACH) {
return true; return true;
} }
if (plane.control_mode == &plane.mode_guided &&
guided_takeoff) {
return true;
}
if (in_vtol_auto()) { if (in_vtol_auto()) {
if (!plane.auto_state.vtol_loiter || poscontrol.get_state() > QPOS_APPROACH) { if (!plane.auto_state.vtol_loiter || poscontrol.get_state() > QPOS_APPROACH) {
return true; return true;