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Copter: GCS failsafe triggers disarm if landed

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This commit is contained in:
Randy Mackay 2015-05-17 15:47:41 +09:00
parent d467507b88
commit 4681dd2802
1 changed files with 10 additions and 3 deletions
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13
ArduCopter/events.pde
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@ -208,7 +208,7 @@ static void failsafe_gcs_check()
case ACRO: case ACRO:
case SPORT: case SPORT:
// if throttle is zero disarm motors // if throttle is zero disarm motors
if (ap.throttle_zero) { if (ap.throttle_zero || ap.land_complete) {
init_disarm_motors(); init_disarm_motors();
}else if(home_distance > wp_nav.get_wp_radius()) { }else if(home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
@ -219,8 +219,11 @@ static void failsafe_gcs_check()
} }
break; break;
case AUTO: case AUTO:
// if mission has not started AND vehicle is landed, disarm motors
if (!ap.auto_armed && ap.land_complete) {
init_disarm_motors();
// if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission // if g.failsafe_gcs is 1 do RTL, 2 means continue with the mission
if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) { } else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_RTL) {
if (home_distance > wp_nav.get_wp_radius()) { if (home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
@ -232,7 +235,11 @@ static void failsafe_gcs_check()
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break; break;
default: default:
if(home_distance > wp_nav.get_wp_radius()) { // used for AltHold, Guided, Loiter, RTL, Circle, Drift, Sport, Flip, Autotune, PosHold
// if landed disarm
if (ap.land_complete) {
init_disarm_motors();
} else if (home_distance > wp_nav.get_wp_radius()) {
// switch to RTL or if that fails, LAND // switch to RTL or if that fails, LAND
set_mode_RTL_or_land_with_pause(); set_mode_RTL_or_land_with_pause();
}else{ }else{