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Copter: move to releasing payload if we are landed

This commit is contained in:
Peter Barker 2016-12-02 13:25:08 +11:00
parent 0e2b3781ae
commit 4aab4f72b6
1 changed files with 22 additions and 0 deletions
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22
ArduCopter/commands_logic.cpp
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@ -705,6 +705,28 @@ bool Copter::verify_payload_place()
const float current_throttle_level = motors.get_throttle();
const uint32_t now = AP_HAL::millis();
// if we discover we've landed then immediately release the load:
if (ap.land_complete) {
switch (nav_payload_place.state) {
case PayloadPlaceStateType_FlyToLocation:
case PayloadPlaceStateType_Calibrating_Hover_Start:
case PayloadPlaceStateType_Calibrating_Hover:
case PayloadPlaceStateType_Descending_Start:
case PayloadPlaceStateType_Descending:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "NAV_PLACE: landed");
nav_payload_place.state = PayloadPlaceStateType_Releasing_Start;
break;
case PayloadPlaceStateType_Releasing_Start:
case PayloadPlaceStateType_Releasing:
case PayloadPlaceStateType_Released:
case PayloadPlaceStateType_Ascending_Start:
case PayloadPlaceStateType_Ascending:
case PayloadPlaceStateType_Done:
break;
}
}
switch (nav_payload_place.state) {
case PayloadPlaceStateType_FlyToLocation:
if (!wp_nav.reached_wp_destination()) {