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Auto-land updates - removed sonar option - not needed 

updates from JLN
This commit is contained in:
Jason Short 2012-01-07 22:22:57 -08:00
parent 76dd79e7b5
commit 6678edf243
1 changed files with 10 additions and 14 deletions
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24
ArduCopter/commands_logic.pde
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@ -357,15 +357,17 @@ static bool verify_land()
velocity_land = 2000; velocity_land = 2000;
if ((current_loc.alt - home.alt) < 500){ if ((current_loc.alt - home.alt) < 300){
// a LP filter used to tell if we have landed // a LP filter used to tell if we have landed
// will drive to 0 if we are on the ground - maybe, the baro is noisy // will drive to 0 if we are on the ground - maybe, the baro is noisy
velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8; velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8;
} }
// remenber altitude for climb_rate
old_alt = current_loc.alt; old_alt = current_loc.alt;
if ((current_loc.alt - home.alt) < 300){ if ((current_loc.alt - home.alt) < 200){
// don't bank to hold position
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
// Update by JLN for a safe AUTO landing // Update by JLN for a safe AUTO landing
@ -375,20 +377,14 @@ static bool verify_land()
g.pi_throttle.reset_I(); g.pi_throttle.reset_I();
} }
if(g.sonar_enabled){ if((current_loc.alt - home.alt) < 100 && velocity_land <= 100){
// decide which sensor we're using
if(sonar_alt < 40){
land_complete = true;
//Serial.println("Y");
return true;
}
}
if((current_loc.alt - home.alt) < 300 && velocity_land <= 100){
land_complete = true; land_complete = true;
// reset manual_boost hack
manual_boost = 0;
// reset old_alt // reset old_alt
old_alt = 0; old_alt = 0;
init_disarm_motors(); //init_disarm_motors();
return true; return true;
} }
//Serial.printf("N, %d\n", velocity_land); //Serial.printf("N, %d\n", velocity_land);