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Plane: post "Distance from LAND point" on every land

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- waits until disarm after a land
This commit is contained in:
Tom Pittenger 2015-08-17 14:14:10 -07:00 committed by Randy Mackay
parent eedc631eca
commit 61ae42db40
3 changed files with 14 additions and 0 deletions
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3
ArduPlane/Plane.h
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@ -466,6 +466,9 @@ private:
// last time is_flying() returned true in milliseconds // last time is_flying() returned true in milliseconds
uint32_t last_flying_ms; uint32_t last_flying_ms;
// once landed, post some landing statistics to the GCS
bool post_landing_stats;
} auto_state; } auto_state;
// true if we are in an auto-throttle mode, which means // true if we are in an auto-throttle mode, which means

3
ArduPlane/commands_logic.cpp
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@ -28,6 +28,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// start non-idle // start non-idle
auto_state.idle_mode = false; auto_state.idle_mode = false;
// once landed, post some landing statistics to the GCS
auto_state.post_landing_stats = false;
gcs_send_text_fmt(PSTR("Executing nav command ID #%i"),cmd.id); gcs_send_text_fmt(PSTR("Executing nav command ID #%i"),cmd.id);
} else { } else {
gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id); gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);

8
ArduPlane/landing.cpp
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@ -49,6 +49,7 @@ bool Plane::verify_land()
(fabsf(auto_state.sink_rate) < 0.2f && !is_flying())) { (fabsf(auto_state.sink_rate) < 0.2f && !is_flying())) {
if (!auto_state.land_complete) { if (!auto_state.land_complete) {
auto_state.post_landing_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) { if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(PSTR("Flare crash detected: speed=%.1f"), (double)gps.ground_speed()); gcs_send_text_fmt(PSTR("Flare crash detected: speed=%.1f"), (double)gps.ground_speed());
} else { } else {
@ -80,6 +81,13 @@ bool Plane::verify_land()
get_distance(prev_WP_loc, current_loc) + 200); get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc); nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false;
gcs_send_text_fmt(PSTR("Distance from LAND point=%.2fm"), get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing // check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete(); disarm_if_autoland_complete();