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Plane: add Mode::is_vtol_man_mode 

and make use of is_vtol_mode in in_vtol_mode
This commit is contained in:
Mark Whitehorn 2020-07-26 08:35:51 -06:00 committed by Andrew Tridgell
parent b9830f657a
commit 4630e9af30
2 changed files with 7 additions and 8 deletions
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5
ArduPlane/mode.h
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@ -69,6 +69,7 @@ public:
// true for all q modes
virtual bool is_vtol_mode() const { return false; }
virtual bool is_vtol_man_throttle() const { return false; }
virtual bool is_vtol_man_mode() const { return false; }
// true if mode can have terrain following disabled by switch
virtual bool allows_terrain_disable() const { return false; }
@ -346,6 +347,7 @@ public:
bool is_vtol_mode() const override { return true; }
bool is_vtol_man_throttle() const override { return true; }
virtual bool is_vtol_man_mode() const override { return true; }
// methods that affect movement of the vehicle in this mode
void update() override;
@ -366,6 +368,7 @@ public:
const char *name4() const override { return "QHOV"; }
bool is_vtol_mode() const override { return true; }
virtual bool is_vtol_man_mode() const override { return true; }
// methods that affect movement of the vehicle in this mode
void update() override;
@ -384,6 +387,7 @@ public:
const char *name4() const override { return "QLOT"; }
bool is_vtol_mode() const override { return true; }
virtual bool is_vtol_man_mode() const override { return true; }
// methods that affect movement of the vehicle in this mode
void update() override;
@ -457,6 +461,7 @@ public:
const char *name4() const override { return "QATN"; }
bool is_vtol_mode() const override { return true; }
virtual bool is_vtol_man_mode() const override { return true; }
// methods that affect movement of the vehicle in this mode
void update() override;

10
ArduPlane/quadplane.cpp
View File

@ -1227,7 +1227,7 @@ bool QuadPlane::is_flying_vtol(void) const
if (plane.control_mode == &plane.mode_guided && guided_takeoff) {
return true;
}
if (plane.control_mode == &plane.mode_qstabilize || plane.control_mode == &plane.mode_qhover || plane.control_mode == &plane.mode_qloiter || plane.control_mode == &plane.mode_qautotune) {
if (plane.control_mode->is_vtol_man_mode()) {
// in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
return plane.get_throttle_input() > 0;
}
@ -2227,13 +2227,7 @@ bool QuadPlane::in_vtol_mode(void) const
if (!available()) {
return false;
}
return (plane.control_mode == &plane.mode_qstabilize ||
plane.control_mode == &plane.mode_qhover ||
plane.control_mode == &plane.mode_qloiter ||
plane.control_mode == &plane.mode_qland ||
plane.control_mode == &plane.mode_qrtl ||
plane.control_mode == &plane.mode_qacro ||
plane.control_mode == &plane.mode_qautotune ||
return (plane.control_mode->is_vtol_mode() ||
((plane.control_mode == &plane.mode_guided || plane.control_mode == &plane.mode_avoidADSB) && plane.auto_state.vtol_loiter) ||
in_vtol_auto());
}