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Copter: add and use FLIP_COMPLETE mode reason

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No need to use the original reason we entered flip mode as the reason we are exiting flip.  Instead we can use a new reason called FLIP_COMPLETE
This commit is contained in:
Randy Mackay 2016-05-25 16:15:18 +09:00
parent ae3cb0557d
commit 390d06a400
2 changed files with 4 additions and 5 deletions
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6
ArduCopter/control_flip.cpp
View File

@ -34,7 +34,6 @@
FlipState flip_state; // current state of flip FlipState flip_state; // current state of flip
control_mode_t flip_orig_control_mode; // flight mode when flip was initated control_mode_t flip_orig_control_mode; // flight mode when flip was initated
mode_reason_t flip_orig_control_mode_reason;
uint32_t flip_start_time; // time since flip began uint32_t flip_start_time; // time since flip began
int8_t flip_roll_dir; // roll direction (-1 = roll left, 1 = roll right) int8_t flip_roll_dir; // roll direction (-1 = roll left, 1 = roll right)
int8_t flip_pitch_dir; // pitch direction (-1 = pitch forward, 1 = pitch back) int8_t flip_pitch_dir; // pitch direction (-1 = pitch forward, 1 = pitch back)
@ -64,7 +63,6 @@ bool Copter::flip_init(bool ignore_checks)
// capture original flight mode so that we can return to it after completion // capture original flight mode so that we can return to it after completion
flip_orig_control_mode = control_mode; flip_orig_control_mode = control_mode;
flip_orig_control_mode_reason = control_mode_reason;
// initialise state // initialise state
flip_state = Flip_Start; flip_state = Flip_Start;
@ -195,7 +193,7 @@ void Copter::flip_run()
// check for successful recovery // check for successful recovery
if (fabsf(recovery_angle) <= FLIP_RECOVERY_ANGLE) { if (fabsf(recovery_angle) <= FLIP_RECOVERY_ANGLE) {
// restore original flight mode // restore original flight mode
if (!set_mode(flip_orig_control_mode, flip_orig_control_mode_reason)) { if (!set_mode(flip_orig_control_mode, MODE_REASON_FLIP_COMPLETE)) {
// this should never happen but just in case // this should never happen but just in case
set_mode(STABILIZE, MODE_REASON_UNKNOWN); set_mode(STABILIZE, MODE_REASON_UNKNOWN);
} }
@ -206,7 +204,7 @@ void Copter::flip_run()
case Flip_Abandon: case Flip_Abandon:
// restore original flight mode // restore original flight mode
if (!set_mode(flip_orig_control_mode, flip_orig_control_mode_reason)) { if (!set_mode(flip_orig_control_mode, MODE_REASON_FLIP_COMPLETE)) {
// this should never happen but just in case // this should never happen but just in case
set_mode(STABILIZE, MODE_REASON_UNKNOWN); set_mode(STABILIZE, MODE_REASON_UNKNOWN);
} }

3
ArduCopter/defines.h
View File

@ -119,7 +119,8 @@ enum mode_reason_t {
MODE_REASON_THROTTLE_LAND_ESCAPE, MODE_REASON_THROTTLE_LAND_ESCAPE,
MODE_REASON_FENCE_BREACH, MODE_REASON_FENCE_BREACH,
MODE_REASON_TERRAIN_FAILSAFE, MODE_REASON_TERRAIN_FAILSAFE,
MODE_REASON_BRAKE_TIMEOUT MODE_REASON_BRAKE_TIMEOUT,
MODE_REASON_FLIP_COMPLETE
}; };
// Tuning enumeration // Tuning enumeration