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Copter: log sonar_alt even when disabled

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This commit is contained in:
Randy Mackay 2015-06-11 16:58:13 +09:00 committed by Andrew Tridgell
parent 5644dd8620
commit 82ad454864
6 changed files with 6 additions and 6 deletions
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2
ArduCopter/control_althold.cpp
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@ -74,7 +74,7 @@ void Copter::althold_run()
// body-frame rate controller is run directly from 100hz loop
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
// if sonar is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}

2
ArduCopter/control_circle.cpp
View File

@ -73,7 +73,7 @@ void Copter::circle_run()
}
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
// if sonar is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}

2
ArduCopter/control_loiter.cpp
View File

@ -98,7 +98,7 @@ void Copter::loiter_run()
// body-frame rate controller is run directly from 100hz loop
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
// if sonar is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}

2
ArduCopter/control_poshold.cpp
View File

@ -505,7 +505,7 @@ void Copter::poshold_run()
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(poshold.roll, poshold.pitch, target_yaw_rate);
// throttle control
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
// if sonar is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}

2
ArduCopter/control_sport.cpp
View File

@ -95,7 +95,7 @@ void Copter::sport_run()
attitude_control.rate_ef_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
// if sonar is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}

2
ArduCopter/sensors.cpp
View File

@ -40,7 +40,7 @@ int16_t Copter::read_sonar(void)
sonar.update();
// exit immediately if sonar is disabled
if (!sonar_enabled || (sonar.status() != RangeFinder::RangeFinder_Good)) {
if (sonar.status() != RangeFinder::RangeFinder_Good) {
sonar_alt_health = 0;
return 0;
}