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ArduCopter: Updated param name from auto_land_timer to loiter_timer, because it could really be used for more routines like auto-approach. Added timer before approach (20s).

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This commit is contained in:
Adam M Rivera 2012-04-16 10:07:57 -05:00
parent 2d096c401f
commit 637f778dd0
1 changed files with 13 additions and 10 deletions
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23
ArduCopter/ArduCopter.pde
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@ -852,8 +852,8 @@ static uint32_t nav_loopTimer;
static float dTnav; static float dTnav;
// Counters for branching from 4 minute control loop used to save Compass offsets // Counters for branching from 4 minute control loop used to save Compass offsets
static int16_t superslow_loopCounter; static int16_t superslow_loopCounter;
// RTL Autoland Timer // Loiter timer - Records how long we have been in loiter
static uint32_t auto_land_timer; static uint32_t loiter_timer;
// disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight // disarms the copter while in Acro or Stabilize mode after 30 seconds of no flight
static uint8_t auto_disarming_counter; static uint8_t auto_disarming_counter;
@ -1766,12 +1766,12 @@ static void update_navigation()
case RTL: case RTL:
// We have reached Home // We have reached Home
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
// if auto_land_timer value > 0, we are set to trigger auto_land after 20 seconds // if loiter_timer value > 0, we are set to trigger auto_land or approach after 20 seconds
set_mode(LOITER); set_mode(LOITER);
if(g.rtl_land_enabled || failsafe) if(g.rtl_approach_alt >= 1 || g.rtl_land_enabled || failsafe)
auto_land_timer = millis(); loiter_timer = millis();
else else
auto_land_timer = 0; loiter_timer = 0;
break; break;
} }
@ -1814,13 +1814,16 @@ static void update_navigation()
wp_control = LOITER_MODE; wp_control = LOITER_MODE;
} }
if(g.rtl_approach_alt >= 5){ // If we have a safe approach alt set and we have been loitering for 20 seconds, begin approach
if(g.rtl_approach_alt >= 1 && (millis() - loiter_timer) > 20000){
// just to make sure we clear the timer
loiter_timer = 0;
set_mode(APPROACH); set_mode(APPROACH);
} }
// Kick us out of loiter and begin landing if the auto_land_timer is set // Kick us out of loiter and begin landing if the loiter_timer is set
else if(auto_land_timer != 0 && (millis() - auto_land_timer) > (uint32_t)g.auto_land_timeout.get()){ else if(loiter_timer != 0 && (millis() - loiter_timer) > (uint32_t)g.auto_land_timeout.get()){
// just to make sure we clear the timer // just to make sure we clear the timer
auto_land_timer = 0; loiter_timer = 0;
set_mode(LAND); set_mode(LAND);
} }