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Copter: radio, batt failsafe disarm if copter is landed in Loiter or AltHold

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This commit is contained in:
Randy Mackay 2013-11-18 15:51:17 +09:00
parent 7dd4ab835f
commit 699a5bd381
1 changed files with 24 additions and 0 deletions
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24
ArduCopter/events.pde
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@ -48,6 +48,23 @@ static void failsafe_radio_on_event()
} }
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break; break;
case LOITER:
case ALT_HOLD:
// if landed with throttle at zero disarm, otherwise do the regular thing
if (g.rc_3.control_in == 0 && ap.land_complete) {
init_disarm_motors();
}else if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately
set_mode(LAND);
}else if(home_distance > wp_nav.get_waypoint_radius()) {
if (!set_mode(RTL)) {
set_mode(LAND);
}
}else{
// We have no GPS or are very close to home so we will land
set_mode(LAND);
}
break;
case LAND: case LAND:
// continue to land if battery failsafe is also active otherwise fall through to default handling // continue to land if battery failsafe is also active otherwise fall through to default handling
if (g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) { if (g.failsafe_battery_enabled == FS_BATT_LAND && failsafe.battery) {
@ -120,6 +137,13 @@ static void failsafe_battery_event(void)
set_mode(LAND); set_mode(LAND);
} }
break; break;
case LOITER:
case ALT_HOLD:
// if landed with throttle at zero disarm, otherwise fall through to default handling
if (g.rc_3.control_in == 0 && ap.land_complete) {
init_disarm_motors();
break;
}
default: default:
// set mode to RTL or LAND // set mode to RTL or LAND
if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_waypoint_radius()) { if (g.failsafe_battery_enabled == FS_BATT_RTL && home_distance > wp_nav.get_waypoint_radius()) {