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ArduCopter: Enabled external control for takeoff 

Co-authored-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
This commit is contained in:
snktshrma 2024-10-15 13:15:32 +05:30 committed by Randy Mackay
parent 5398f1a499
commit 20aeae1a09
2 changed files with 6 additions and 6 deletions
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10
ArduCopter/Copter.cpp
View File

@ -285,13 +285,9 @@ bool Copter::set_target_location(const Location& target_loc)
return mode_guided.set_destination(target_loc);
}
#endif //MODE_GUIDED_ENABLED
#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED
// start takeoff to given altitude (for use by scripting)
bool Copter::start_takeoff(float alt)
bool Copter::start_takeoff(const float alt)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
@ -304,7 +300,11 @@ bool Copter::start_takeoff(float alt)
}
return false;
}
#endif //MODE_GUIDED_ENABLED
#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED
// set target position (for use by scripting)
bool Copter::set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt)
{

2
ArduCopter/Copter.h
View File

@ -668,12 +668,12 @@ private:
#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if MODE_GUIDED_ENABLED
bool set_target_location(const Location& target_loc) override;
bool start_takeoff(const float alt) override;
#endif // MODE_GUIDED_ENABLED
#endif // AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED
bool start_takeoff(float alt) override;
bool get_target_location(Location& target_loc) override;
bool update_target_location(const Location &old_loc, const Location &new_loc) override;
bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;