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Copter: guided mode remains in takeoff submode longer

This commit is contained in:
Randy Mackay 2021-09-18 10:33:58 +09:00
parent 944920610f
commit 541cdbef3e
2 changed files with 6 additions and 5 deletions
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2
ArduCopter/mode.h
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@ -940,7 +940,7 @@ private:
// controls which controller is run (pos or vel): // controls which controller is run (pos or vel):
SubMode guided_mode = SubMode::TakeOff; SubMode guided_mode = SubMode::TakeOff;
bool send_notification; // used to send one time notification to ground station bool send_notification; // used to send one time notification to ground station
bool takeoff_complete; // true once takeoff has completed (used to trigger retracting of landing gear)
}; };

9
ArduCopter/mode_guided.cpp
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@ -138,6 +138,9 @@ bool ModeGuided::do_user_takeoff_start(float takeoff_alt_cm)
// get initial alt for WP_NAVALT_MIN // get initial alt for WP_NAVALT_MIN
auto_takeoff_set_start_alt(); auto_takeoff_set_start_alt();
// record takeoff has not completed
takeoff_complete = false;
return true; return true;
} }
@ -629,14 +632,12 @@ void ModeGuided::set_angle(const Quaternion &q, float climb_rate_cms_or_thrust,
void ModeGuided::takeoff_run() void ModeGuided::takeoff_run()
{ {
auto_takeoff_run(); auto_takeoff_run();
if (wp_nav->reached_wp_destination()) { if (!takeoff_complete && wp_nav->reached_wp_destination()) {
takeoff_complete = true;
#if LANDING_GEAR_ENABLED == ENABLED #if LANDING_GEAR_ENABLED == ENABLED
// optionally retract landing gear // optionally retract landing gear
copter.landinggear.retract_after_takeoff(); copter.landinggear.retract_after_takeoff();
#endif #endif
// change to velocity control after take off.
init(true);
} }
} }