From 1252f6c03ec2816b054eac81edc0f2d95586315a Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Mon, 4 Apr 2016 22:43:42 -0700 Subject: [PATCH] Sub: Repair build --- ArduSub/ArduSub.cpp | 2 +- ArduSub/Attitude.cpp | 2 +- ArduSub/Sub.cpp | 1 - ArduSub/config.h | 3 +++ ArduSub/defines.h | 10 ++++++---- 5 files changed, 11 insertions(+), 7 deletions(-) diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp index 1b1dd231bf..7df9dbe1d8 100644 --- a/ArduSub/ArduSub.cpp +++ b/ArduSub/ArduSub.cpp @@ -390,7 +390,7 @@ void Sub::ten_hz_logging_loop() if (should_log(MASK_LOG_PID)) { DataFlash.Log_Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info() ); DataFlash.Log_Write_PID(LOG_PIDP_MSG, attitude_control.get_rate_pitch_pid().get_pid_info() ); - DataFlash.Log_Write_PID(LOG_PIDY_MSG, gattitude_control.get_rate_yaw_pid().get_pid_info() ); + DataFlash.Log_Write_PID(LOG_PIDY_MSG, attitude_control.get_rate_yaw_pid().get_pid_info() ); DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() ); } } diff --git a/ArduSub/Attitude.cpp b/ArduSub/Attitude.cpp index 8f61994669..41146be336 100644 --- a/ArduSub/Attitude.cpp +++ b/ArduSub/Attitude.cpp @@ -277,7 +277,7 @@ float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_al } // set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle -void Sub::set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle) +void Sub::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle) { // shift difference between pilot's throttle and hover throttle into accelerometer I g.pid_accel_z.set_integrator((pilot_throttle-throttle_average) * 1000.0f); diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp index 180fb05f2f..e4c60cc8d3 100644 --- a/ArduSub/Sub.cpp +++ b/ArduSub/Sub.cpp @@ -30,7 +30,6 @@ Sub::Sub(void) : FUNCTOR_BIND_MEMBER(&Sub::exit_mission, void)), control_mode(STABILIZE), motors(MAIN_LOOP_RATE), -#endif scaleLongDown(1), wp_bearing(0), home_bearing(0), diff --git a/ArduSub/config.h b/ArduSub/config.h index ec06fceb28..422978dbcc 100644 --- a/ArduSub/config.h +++ b/ArduSub/config.h @@ -339,6 +339,9 @@ #ifndef LAND_WITH_DELAY_MS # define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event #endif +#ifndef LAND_CANCEL_TRIGGER_THR + # define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700 +#endif ////////////////////////////////////////////////////////////////////////////// // Landing Detector diff --git a/ArduSub/defines.h b/ArduSub/defines.h index 510fe218fc..ff22d92f49 100644 --- a/ArduSub/defines.h +++ b/ArduSub/defines.h @@ -348,10 +348,11 @@ enum ThrowModeState { #define DATA_ROTOR_RUNUP_COMPLETE 58 // Heli only #define DATA_ROTOR_SPEED_BELOW_CRITICAL 59 // Heli only #define DATA_EKF_ALT_RESET 60 -#define DATA_SURFACED 61 // Sub only -#define DATA_NOT_SURFACED 62 // Sub only -#define DATA_BOTTOMED 63 // Sub only -#define DATA_NOT_BOTTOMED 64 // Sub only +#define DATA_LAND_CANCELLED_BY_PILOT 61 +#define DATA_SURFACED 62 // Sub only +#define DATA_NOT_SURFACED 63 // Sub only +#define DATA_BOTTOMED 64 // Sub only +#define DATA_NOT_BOTTOMED 65 // Sub only // Centi-degrees to radians #define DEGX100 5729.57795f @@ -442,3 +443,4 @@ enum ThrowModeState { // for PILOT_THR_BHV parameter #define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0) +#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)