Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
ArduCopter/commands_logic.pde
View File

@ -357,15 +357,17 @@ static bool verify_land()
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
// 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;
}
// remenber altitude for climb_rate
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;
// Update by JLN for a safe AUTO landing
@ -375,20 +377,14 @@ static bool verify_land()
g.pi_throttle.reset_I();
}
if(g.sonar_enabled){
// 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){
if((current_loc.alt - home.alt) < 100 && velocity_land <= 100){
land_complete = true;
// reset manual_boost hack
manual_boost = 0;
// reset old_alt
old_alt = 0;
init_disarm_motors();
//init_disarm_motors();
return true;
}
//Serial.printf("N, %d\n", velocity_land);