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Copter: factor out auto_takeoff_run from auto and guided

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This code was identical.
This commit is contained in:
Peter Barker 2018-06-26 13:16:31 +10:00 committed by Peter Barker
parent ccc1170c8c
commit 11aeec6dd1
3 changed files with 10 additions and 40 deletions
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4
ArduCopter/mode.h
View File

@ -157,6 +157,10 @@ protected:
// takeoff support
virtual bool do_user_takeoff_start(float takeoff_alt_cm);
// method shared by both Guided and Auto for takeoff. This is
// waypoint navigation but the user can control the yaw.
void auto_takeoff_run();
// gnd speed limit required to observe optical flow sensor limits
float &ekfGndSpdLimit;

41
ArduCopter/mode_auto.cpp
View File

@ -728,46 +728,7 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
// called by auto_run at 100hz or more
void Copter::ModeAuto::takeoff_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
// initialise wpnav targets
wp_nav->shift_wp_origin_to_current_pos();
zero_throttle_and_relax_ac();
// clear i term when we're taking off
set_throttle_takeoff();
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!copter.failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
#if FRAME_CONFIG == HELI_FRAME
// helicopters stay in landed state until rotor speed runup has finished
if (motors->rotor_runup_complete()) {
set_land_complete(false);
} else {
// initialise wpnav targets
wp_nav->shift_wp_origin_to_current_pos();
}
#else
set_land_complete(false);
#endif
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control->update_z_controller();
// call attitude controller
copter.auto_takeoff_attitude_run(target_yaw_rate);
auto_takeoff_run();
}
// auto_wp_run - runs the auto waypoint controller

5
ArduCopter/mode_guided.cpp
View File

@ -364,6 +364,11 @@ void Copter::ModeGuided::run()
// guided_takeoff_run - takeoff in guided mode
// called by guided_run at 100hz or more
void Copter::ModeGuided::takeoff_run()
{
auto_takeoff_run();
}
void Copter::Mode::auto_takeoff_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {