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Copter: LAND only control horizontal position if we have GPS lock

This commit is contained in:
Randy Mackay 2013-06-25 22:33:47 +09:00
parent 66cecbfdc3
commit 022148ec0d
2 changed files with 15 additions and 6 deletions
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19
ArduCopter/commands_logic.pde
View File

@ -323,9 +323,20 @@ static void do_land(const struct Location *cmd)
// set landing state
land_state = LAND_STATE_DESCENDING;
// switch to loiter which restores horizontal control to pilot
// To-Do: check that we are not in failsafe to ensure we don't process bad roll-pitch commands
set_roll_pitch_mode(ROLL_PITCH_LOITER);
// if we have gps lock, attempt to hold horizontal position
if( ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D ) {
// switch to loiter which restores horizontal control to pilot
// To-Do: check that we are not in failsafe to ensure we don't process bad roll-pitch commands
set_roll_pitch_mode(ROLL_PITCH_LOITER);
// switch into loiter nav mode
set_nav_mode(NAV_LOITER);
}else{
// no gps lock so give horizontal control to pilot
// To-Do: check that we are not in failsafe to ensure we don't process bad roll-pitch commands
set_roll_pitch_mode(ROLL_PITCH_STABLE);
// switch into loiter nav mode
set_nav_mode(NAV_NONE);
}
// hold yaw while landing
set_yaw_mode(YAW_HOLD);
@ -333,8 +344,6 @@ static void do_land(const struct Location *cmd)
// set throttle mode to land
set_throttle_mode(THROTTLE_LAND);
// switch into loiter nav mode
set_nav_mode(NAV_LOITER);
}
}

2
ArduCopter/system.pde
View File

@ -434,7 +434,7 @@ static void set_mode(uint8_t mode)
case LAND:
// To-Do: it is messy to set manual_attitude here because the do_land function is reponsible for setting the roll_pitch_mode
if( g_gps->status() == GPS::GPS_OK_FIX_3D ) {
if( ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D ) {
// switch to loiter if we have gps
ap.manual_attitude = false;
}else{