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Copter: reduce throttle to min once landed in RTL 

This catches the case where the vehicle lands but the user doesn't
immediately put the throttle to zero.  Before this check it would
continue to attempt to hold it's
This commit is contained in:
Randy Mackay 2014-09-12 14:15:38 +09:00
parent eac26cdd0f
commit 224122958c
1 changed files with 16 additions and 13 deletions
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29
ArduCopter/control_rtl.pde
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@ -325,12 +325,27 @@ static void rtl_land_run()
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
if(!ap.auto_armed || ap.land_complete) {
attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false);
// set target to current position
wp_nav.init_loiter_target();
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
init_disarm_motors();
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
}
#endif
// check if we've completed this stage of RTL
rtl_state_complete = ap.land_complete;
return;
}
@ -365,18 +380,6 @@ static void rtl_land_run()
// check if we've completed this stage of RTL
rtl_state_complete = ap.land_complete;
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (g.rc_3.control_in == 0 || failsafe.radio)) {
init_disarm_motors();
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
}
#endif
}
// get_RTL_alt - return altitude which vehicle should return home at