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Plane: RTL home when AUTO run with no mission

This commit is contained in:
Randy Mackay 2014-03-14 22:32:06 +09:00
parent 6b789cd711
commit 7f21e3885e
2 changed files with 12 additions and 3 deletions
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11
ArduPlane/ArduPlane.pde
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@ -1116,7 +1116,16 @@ static void update_GPS_10Hz(void)
*/ */
static void handle_auto_mode(void) static void handle_auto_mode(void)
{ {
switch(mission.get_current_nav_cmd().id) { uint8_t nav_cmd_id;
// we should be either running a mission or RTLing home
if (mission.state() == AP_Mission::MISSION_RUNNING) {
mission.get_current_nav_cmd().id;
}else{
nav_cmd_id = auto_rtl_command.id;
}
switch(nav_cmd_id) {
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
if (steer_state.hold_course_cd == -1) { if (steer_state.hold_course_cd == -1) {
// we don't yet have a heading to hold - just level // we don't yet have a heading to hold - just level

4
ArduPlane/commands_process.pde
View File

@ -8,11 +8,11 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd);
static void update_commands(void) static void update_commands(void)
{ {
if(control_mode == AUTO) { if(control_mode == AUTO) {
if(home_is_set == true && mission.num_commands() > 1) { if (home_is_set) {
if(mission.state() == AP_Mission::MISSION_RUNNING) { if(mission.state() == AP_Mission::MISSION_RUNNING) {
mission.update(); mission.update();
} else { } else {
// next_nav_command should have been set to MAV_CMD_NAV_LOITER_UNLIM by exit_mission // auto_rtl_command should have been set to MAV_CMD_NAV_LOITER_UNLIM by exit_mission
verify_command(auto_rtl_command); verify_command(auto_rtl_command);
} }
} }