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Copter: fixed apm1-hil build

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This commit is contained in:
Andrew Tridgell 2014-07-08 15:41:39 +10:00
parent f6d9bc5d7e
commit 6416a4d0e6
2 changed files with 8 additions and 1 deletions
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7
ArduCopter/control_land.pde
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@ -174,8 +174,13 @@ static void land_nogps_run()
// should be called at 100hz or higher
static float get_throttle_land()
{
#if CONFIG_SONAR == ENABLED
bool sonar_ok = sonar_enabled && sonar.healthy();
#else
bool sonar_ok = false;
#endif
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (current_loc.alt >= LAND_START_ALT && !(sonar_enabled && sonar.healthy() && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
if (current_loc.alt >= LAND_START_ALT && !(sonar_ok && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
return pos_control.get_speed_down();
}else{
return -abs(g.land_speed);

2
ArduCopter/control_modes.pde
View File

@ -258,11 +258,13 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUX_SWITCH_SONAR:
// enable or disable the sonar
#if CONFIG_SONAR == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
sonar_enabled = true;
}else{
sonar_enabled = false;
}
#endif
break;
#if AC_FENCE == ENABLED