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Copter: guided mode angle controller sets auto-armed from run method

This commit is contained in:
Randy Mackay 2020-10-14 14:29:33 +09:00
parent c1c9d87efe
commit 5adf1d9596
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/mode_guided.cpp
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@ -339,11 +339,6 @@ void ModeGuided::set_angle(const Quaternion &q, float climb_rate_cms_or_thrust,
guided_angle_state.update_time_ms = millis(); guided_angle_state.update_time_ms = millis();
// interpret positive climb rate or thrust as triggering take-off
if (motors->armed() && !copter.ap.auto_armed && is_positive(climb_rate_cms_or_thrust)) {
copter.set_auto_armed(true);
}
// log target // log target
copter.Log_Write_GuidedTarget(guided_mode, copter.Log_Write_GuidedTarget(guided_mode,
Vector3f(guided_angle_state.roll_cd, guided_angle_state.pitch_cd, guided_angle_state.yaw_cd), Vector3f(guided_angle_state.roll_cd, guided_angle_state.pitch_cd, guided_angle_state.yaw_cd),
@ -618,6 +613,11 @@ void ModeGuided::angle_control_run()
guided_angle_state.use_thrust = false; guided_angle_state.use_thrust = false;
} }
// interpret positive climb rate or thrust as triggering take-off
if (motors->armed() && is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms)) {
copter.set_auto_armed(true);
}
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) { if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) {
make_safe_spool_down(); make_safe_spool_down();