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Copter: have takeoff.start() handle clearing i terms and setting land-complete

This commit is contained in:
Peter Barker 2019-04-08 16:37:41 +10:00 committed by Peter Barker
parent 479c238177
commit 3c436b30f0
6 changed files with 6 additions and 21 deletions
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4
ArduCopter/mode_althold.cpp
View File

@ -70,10 +70,6 @@ void Copter::ModeAltHold::run()
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates

4
ArduCopter/mode_flowhold.cpp
View File

@ -269,10 +269,6 @@ void Copter::ModeFlowHold::run()
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
copter.set_land_complete(false);
// clear i terms
copter.set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates

4
ArduCopter/mode_loiter.cpp
View File

@ -131,10 +131,6 @@ void Copter::ModeLoiter::run()
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}
// get takeoff adjusted pilot and takeoff climb rates

4
ArduCopter/mode_poshold.cpp
View File

@ -124,10 +124,6 @@ void Copter::ModePosHold::run()
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates

4
ArduCopter/mode_sport.cpp
View File

@ -90,10 +90,6 @@ void Copter::ModeSport::run()
// initiate take-off
if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
// indicate we are taking off
set_land_complete(false);
// clear i terms
set_throttle_takeoff();
}
// get take-off adjusted pilot and takeoff climb rates

7
ArduCopter/takeoff.cpp
View File

@ -48,11 +48,16 @@ bool Copter::Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
// start takeoff to specified altitude above home in centimeters
void Copter::Mode::_TakeOff::start(float alt_cm)
{
// indicate we are taking off
copter.set_land_complete(false);
// tell position controller to reset alt target and reset I terms
copter.set_throttle_takeoff();
// calculate climb rate
const float speed = MIN(copter.wp_nav->get_default_speed_up(), MAX(copter.g.pilot_speed_up*2.0f/3.0f, copter.g.pilot_speed_up-50.0f));
// sanity check speed and target
if (running() || speed <= 0.0f || alt_cm <= 0.0f) {
if (speed <= 0.0f || alt_cm <= 0.0f) {
return;
}