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Rover: Hold or Loiter within Auto on mission completion

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This commit is contained in:
Randy Mackay 2019-10-08 13:21:18 +09:00
parent d2cf0939a5
commit 80c58696d0
2 changed files with 4 additions and 4 deletions
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2
APMrover2/Parameters.cpp
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@ -558,7 +558,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: MIS_DONE_BEHAVE // @Param: MIS_DONE_BEHAVE
// @DisplayName: Mission done behave // @DisplayName: Mission done behave
// @Description: Mode to become after mission done // @Description: Behaviour after mission completes
// @Values: 0:Hold,1:Loiter,2:Acro // @Values: 0:Hold,1:Loiter,2:Acro
// @User: Standard // @User: Standard
AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0), AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),

4
APMrover2/mode_auto.cpp
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@ -437,7 +437,7 @@ void ModeAuto::exit_mission()
// send message // send message
gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete"); gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && rover.set_mode(rover.mode_loiter, MODE_REASON_MISSION_END)) { if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && start_loiter()) {
return; return;
} }
@ -445,7 +445,7 @@ void ModeAuto::exit_mission()
return; return;
} }
rover.set_mode(rover.mode_hold, MODE_REASON_MISSION_END); start_stop();
} }
// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run // verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run