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Plane: better VTOL land detection

This commit is contained in:
Andrew Tridgell 2016-01-01 22:09:11 +11:00
parent fdd86c10ba
commit 4592085963
1 changed files with 16 additions and 5 deletions
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21
ArduPlane/quadplane.cpp
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@ -457,6 +457,9 @@ bool QuadPlane::is_flying(void)
bool QuadPlane::should_relax(void)
{
bool motor_at_lower_limit = motors->limit.throttle_lower && motors->is_throttle_mix_min();
if (motors->get_throttle() < 10) {
motor_at_lower_limit = true;
}
if (!motor_at_lower_limit) {
motors_lower_limit_start_ms = 0;
}
@ -912,7 +915,8 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
plane.set_next_WP(cmd.content.location);
throttle_wait = false;
land_complete = false;
motors_lower_limit_start_ms = 0;
// also update nav_controller for status output
plane.nav_controller->update_waypoint(plane.prev_WP_loc, plane.next_WP_loc);
return true;
@ -923,6 +927,9 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
*/
bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
{
if (!available()) {
return true;
}
if (plane.auto_state.wp_distance > 2) {
return false;
}
@ -939,11 +946,15 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
*/
bool QuadPlane::verify_vtol_land(void)
{
if (!should_relax()) {
return false;
if (!available()) {
return true;
}
wp_nav->loiter_soften_for_landing();
if (millis() - motors_lower_limit_start_ms > 5000) {
if (should_relax()) {
wp_nav->loiter_soften_for_landing();
}
if (!land_complete &&
(motors_lower_limit_start_ms != 0 &&
millis() - motors_lower_limit_start_ms > 5000)) {
plane.disarm_motors();
land_complete = true;
plane.gcs_send_text(MAV_SEVERITY_INFO,"Land complete");