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Plane: Disarm On Land

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After a landing has occur using a LAND waypoint, automatically disarm
after this many seconds have passed. Use 0 to not disarm.
This commit is contained in:
Tom Pittenger 2015-03-11 16:44:10 -07:00 committed by Andrew Tridgell
parent 90bb97a144
commit 1b0ed277b3
3 changed files with 34 additions and 0 deletions
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2
ArduPlane/Parameters.h
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@ -134,6 +134,7 @@ public:
k_param_cli_enabled, k_param_cli_enabled,
k_param_trim_rc_at_start, k_param_trim_rc_at_start,
k_param_hil_mode, k_param_hil_mode,
k_param_land_disarm_delay,
// 100: Arming parameters // 100: Arming parameters
k_param_arming = 100, k_param_arming = 100,
@ -437,6 +438,7 @@ public:
AP_Int32 airspeed_cruise_cm; AP_Int32 airspeed_cruise_cm;
AP_Int32 RTL_altitude_cm; AP_Int32 RTL_altitude_cm;
AP_Float land_flare_alt; AP_Float land_flare_alt;
AP_Int8 land_disarm_delay;
AP_Int32 min_gndspeed_cm; AP_Int32 min_gndspeed_cm;
AP_Int16 pitch_trim_cd; AP_Int16 pitch_trim_cd;
AP_Int16 FBWB_min_altitude_cm; AP_Int16 FBWB_min_altitude_cm;

9
ArduPlane/Parameters.pde
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@ -232,6 +232,15 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
ASCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0), ASCALAR(land_flare_sec, "LAND_FLARE_SEC", 2.0),
// @Param: LAND_DISARMDELAY
// @DisplayName: Landing disarm delay
// @Description: After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.
// @Units: seconds
// @Increment: 1
// @Range: 0 127
// @User: Advanced
GSCALAR(land_disarm_delay, "LAND_DISARMDELAY", 0),
// @Param: NAV_CONTROLLER // @Param: NAV_CONTROLLER
// @DisplayName: Navigation controller selection // @DisplayName: Navigation controller selection
// @Description: Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental conrtrollers will be added which are selected using this parameter. // @Description: Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental conrtrollers will be added which are selected using this parameter.

23
ArduPlane/landing.pde
View File

@ -87,6 +87,9 @@ static bool verify_land()
get_distance(prev_WP_loc, current_loc) + 200); get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc); nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete();
/* /*
we return false as a landing mission item never completes we return false as a landing mission item never completes
@ -96,6 +99,26 @@ static bool verify_land()
return false; return false;
} }
/*
If land_DisarmDelay is enabled (non-zero), check for a landing then auto-disarm after time expires
*/
static void disarm_if_autoland_complete()
{
if (g.land_disarm_delay > 0 &&
auto_state.land_complete &&
!is_flying() &&
arming.arming_required() != AP_Arming::NO &&
arming.is_armed()) {
/* we have auto disarm enabled. See if enough time has passed */
if (hal.scheduler->millis() - auto_state.last_flying_ms >= g.land_disarm_delay*1000UL) {
if (disarm_motors()) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Auto-Disarmed"));
}
}
}
}
/* /*
a special glide slope calculation for the landing approach a special glide slope calculation for the landing approach