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Copter: disable RTL option

This commit is contained in:
Tatsuya Yamaguchi 2021-01-07 21:18:31 +09:00 committed by Randy Mackay
parent d97a81bfea
commit 621fa857b7
2 changed files with 14 additions and 12 deletions
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14
ArduCopter/Parameters.cpp
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@ -158,6 +158,13 @@ const AP_Param::Info Copter::var_info[] = {
// @Increment: 1000
// @User: Standard
GSCALAR(rtl_loiter_time, "RTL_LOIT_TIME", RTL_LOITER_TIME),
// @Param: RTL_ALT_TYPE
// @DisplayName: RTL mode altitude type
// @Description: RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
// @Values: 0:Relative to Home, 1:Terrain
// @User: Standard
GSCALAR(rtl_alt_type, "RTL_ALT_TYPE", 0),
#endif
#if RANGEFINDER_ENABLED == ENABLED
@ -735,13 +742,6 @@ const AP_Param::Info Copter::var_info[] = {
GSCALAR(throw_motor_start, "THROW_MOT_START", (float)ModeThrow::PreThrowMotorState::STOPPED),
#endif
// @Param: RTL_ALT_TYPE
// @DisplayName: RTL mode altitude type
// @Description: RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
// @Values: 0:Relative to Home, 1:Terrain
// @User: Standard
GSCALAR(rtl_alt_type, "RTL_ALT_TYPE", 0),
#if OSD_ENABLED || OSD_PARAM_ENABLED
// @Group: OSD
// @Path: ../libraries/AP_OSD/AP_OSD.cpp

12
ArduCopter/Parameters.h
View File

@ -392,9 +392,16 @@ public:
AP_Int16 throttle_behavior;
AP_Float pilot_takeoff_alt;
#if MODE_RTL_ENABLED == ENABLED
AP_Int16 rtl_altitude;
AP_Int16 rtl_speed_cms;
AP_Float rtl_cone_slope;
AP_Int16 rtl_alt_final;
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
AP_Int32 rtl_loiter_time;
AP_Int8 rtl_alt_type;
#endif
#if RANGEFINDER_ENABLED == ENABLED
AP_Float rangefinder_gain;
#endif
@ -403,8 +410,6 @@ public:
AP_Int16 gps_hdop_good; // GPS Hdop value at or below this value represent a good position
AP_Int8 super_simple;
AP_Int16 rtl_alt_final;
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
@ -415,7 +420,6 @@ public:
// Waypoints
//
AP_Int32 rtl_loiter_time;
AP_Int16 land_speed;
AP_Int16 land_speed_high;
AP_Int16 pilot_speed_up; // maximum vertical ascending velocity the pilot may request
@ -457,8 +461,6 @@ public:
AP_Enum<ModeThrow::PreThrowMotorState> throw_motor_start;
#endif
AP_Int8 rtl_alt_type;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
// Acro parameters