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Copter: stop disarming as part of running rtl as mission item 

Fixed #6324

Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
This commit is contained in:
Peter Barker 2017-09-07 18:54:19 +10:00 committed by Francisco Ferreira
parent 8029a7f10e
commit 5b793252ed
3 changed files with 7 additions and 7 deletions
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4
ArduCopter/Copter.h
View File

@ -932,7 +932,7 @@ private:
bool rtl_init(bool ignore_checks); bool rtl_init(bool ignore_checks);
void rtl_restart_without_terrain(); void rtl_restart_without_terrain();
void rtl_run(); void rtl_run(bool disarm_on_land=true);
void rtl_climb_start(); void rtl_climb_start();
void rtl_return_start(); void rtl_return_start();
void rtl_climb_return_run(); void rtl_climb_return_run();
@ -941,7 +941,7 @@ private:
void rtl_descent_start(); void rtl_descent_start();
void rtl_descent_run(); void rtl_descent_run();
void rtl_land_start(); void rtl_land_start();
void rtl_land_run(); void rtl_land_run(bool disarm_on_land);
void rtl_build_path(bool terrain_following_allowed); void rtl_build_path(bool terrain_following_allowed);
void rtl_compute_return_target(bool terrain_following_allowed); void rtl_compute_return_target(bool terrain_following_allowed);
bool smart_rtl_init(bool ignore_checks); bool smart_rtl_init(bool ignore_checks);

2
ArduCopter/control_auto.cpp
View File

@ -425,7 +425,7 @@ void Copter::auto_rtl_start()
void Copter::auto_rtl_run() void Copter::auto_rtl_run()
{ {
// call regular rtl flight mode run function // call regular rtl flight mode run function
rtl_run(); rtl_run(false);
} }
// auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location // auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location

8
ArduCopter/control_rtl.cpp
View File

@ -35,7 +35,7 @@ void Copter::rtl_restart_without_terrain()
// rtl_run - runs the return-to-launch controller // rtl_run - runs the return-to-launch controller
// should be called at 100hz or more // should be called at 100hz or more
void Copter::rtl_run() void Copter::rtl_run(bool disarm_on_land)
{ {
// check if we need to move to next state // check if we need to move to next state
if (rtl_state_complete) { if (rtl_state_complete) {
@ -82,7 +82,7 @@ void Copter::rtl_run()
break; break;
case RTL_Land: case RTL_Land:
rtl_land_run(); rtl_land_run(disarm_on_land);
break; break;
} }
} }
@ -358,7 +358,7 @@ void Copter::rtl_land_start()
// rtl_returnhome_run - return home // rtl_returnhome_run - return home
// called by rtl_run at 100hz or more // called by rtl_run at 100hz or more
void Copter::rtl_land_run() void Copter::rtl_land_run(bool disarm_on_land)
{ {
// if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately // if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) { if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {
@ -375,7 +375,7 @@ void Copter::rtl_land_run()
wp_nav->init_loiter_target(); wp_nav->init_loiter_target();
// disarm when the landing detector says we've landed // disarm when the landing detector says we've landed
if (ap.land_complete) { if (ap.land_complete && disarm_on_land) {
init_disarm_motors(); init_disarm_motors();
} }