Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Revert "Plane: abstract out init_start_nav_cnd work to landing lib"

Browse Source 
This reverts commit e2288d5262.

doesn't build
This commit is contained in:
Andrew Tridgell 2016-12-06 17:30:21 +11:00
parent e2288d5262
commit 1380a35f70
1 changed files with 8 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduPlane/commands_logic.cpp
View File

@ -16,16 +16,23 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle
landing.init_start_nav_cmd();
landing.complete = false;
landing.pre_flare = false;
auto_state.sink_rate = 0;
// set takeoff_complete to true so we don't add extra elevator
// except in a takeoff
auto_state.takeoff_complete = true;
// if a go around had been commanded, clear it now.
landing.commanded_go_around = false;
// start non-idle
auto_state.idle_mode = false;
// once landed, post some landing statistics to the GCS
landing.post_stats = false;
nav_controller->set_data_is_stale();
// reset loiter start time. New command is a new loiter