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Copter : initialise surface to be tracked

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This sets the surface to be tracked in SurfaceTracking with the value of SURFTRAK_MODE parameter.

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
This commit is contained in:
Shiv Tyagi 2021-10-13 19:43:03 +05:30 committed by Randy Mackay
parent e1ded4e3f6
commit 477f2824b9
2 changed files with 7 additions and 1 deletions
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4
ArduCopter/Copter.h
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@ -285,9 +285,11 @@ private:
}; };
// set surface to track // set surface to track
void set_surface(Surface new_surface); void set_surface(Surface new_surface);
// initialise surface tracking
void init(Surface surf) { surface = surf; }
private: private:
Surface surface = Surface::GROUND; Surface surface;
uint32_t last_update_ms; // system time of last update to target_alt_cm uint32_t last_update_ms; // system time of last update to target_alt_cm
uint32_t last_glitch_cleared_ms; // system time of last handle glitch recovery uint32_t last_glitch_cleared_ms; // system time of last handle glitch recovery
bool valid_for_logging; // true if target_alt_cm is valid for logging bool valid_for_logging; // true if target_alt_cm is valid for logging

4
ArduCopter/system.cpp
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@ -76,6 +76,10 @@ void Copter::init_ardupilot()
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
// initialise surface to be tracked in SurfaceTracking
// must be before rc init to not override inital switch position
surface_tracking.init((SurfaceTracking::Surface)copter.g2.surftrak_mode.get());
// allocate the motors class // allocate the motors class
allocate_motors(); allocate_motors();