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Plane: fixed X accel triggering of auto

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This commit is contained in:
Andrew Tridgell 2013-03-22 11:53:45 +11:00
parent a6b21443c4
commit 1d983b3f2e
3 changed files with 14 additions and 10 deletions
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1
ArduPlane/ArduPlane.pde
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@ -101,6 +101,7 @@ static Parameters g;
////////////////////////////////////////////////////////////////////////////////
// prototypes
static void update_events(void);
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
////////////////////////////////////////////////////////////////////////////////

20
ArduPlane/Attitude.pde
View File

@ -392,15 +392,21 @@ static bool auto_takeoff_check(void)
// we haven't reached the minimum ground speed
return false;
}
if (g.takeoff_throttle_min_accel > 0.0f &&
(ins.get_accel().x < g.takeoff_throttle_min_accel) &&
ahrs.pitch_sensor > -3000 && ahrs.pitch_sensor < 4500 &&
abs(ahrs.roll_sensor) < 3000) {
// we haven't reached the minimum acceleration or we are not
// anywhere near flat. Thanks to Chris Miser for this
// suggestion
if (g.takeoff_throttle_min_accel > 0.0f) {
float xaccel = ins.get_accel().x;
if (ahrs.pitch_sensor > -3000 &&
ahrs.pitch_sensor < 4500 &&
abs(ahrs.roll_sensor) < 3000 &&
xaccel >= g.takeoff_throttle_min_accel) {
// trigger with minimum acceleration when flat
// Thanks to Chris Miser for this suggestion
gcs_send_text_fmt(PSTR("Triggered AUTO xaccel=%.1f"), xaccel);
return true;
}
return false;
}
// we're good for takeoff
return true;
}

3
ArduPlane/GCS_Mavlink.pde
View File

@ -9,9 +9,6 @@ static bool mavlink_active;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_ ## id ## _LEN) return false
// prototype this for use inside the GCS class
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
/*
* !!NOTE!!
*