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Copter: add disarm on land detect option to PILOT_THR_BHV

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This commit is contained in:
Jonathan Challinger 2016-01-11 15:59:42 -08:00 committed by Randy Mackay
parent cfb2a6b2f9
commit 747344a8ba
3 changed files with 10 additions and 2 deletions
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4
ArduCopter/Parameters.cpp
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@ -97,8 +97,8 @@ const AP_Param::Info Copter::var_info[] = {
// @DisplayName: Throttle stick behavior
// @Description: Bitmask containing various throttle stick options. Add up the values for options that you want.
// @User: Standard
// @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing
// @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing
// @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing,4:Disarm on land detection
// @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),
// @Group: SERIAL

1
ArduCopter/defines.h
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@ -461,3 +461,4 @@ enum ThrowModeState {
// for PILOT_THR_BHV parameter
#define THR_BEHAVE_FEEDBACK_FROM_MID_STICK (1<<0)
#define THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND (1<<1)
#define THR_BEHAVE_DISARM_ON_LAND_DETECT (1<<2)

7
ArduCopter/land_detector.cpp
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@ -93,6 +93,13 @@ void Copter::set_land_complete(bool b)
Log_Write_Event(DATA_NOT_LANDED);
}
ap.land_complete = b;
bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
bool mode_disarms_on_land = mode_allows_arming(control_mode,false) && !mode_has_manual_throttle(control_mode);
if (ap.land_complete && motors.armed() && disarm_on_land_configured && mode_disarms_on_land) {
init_disarm_motors();
}
}
// set land complete maybe flag