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ArduPlane: add QRTL always as Q_RTL_MODE option

This commit is contained in:
Hwurzburg 2021-06-12 20:17:39 -05:00 committed by Andrew Tridgell
parent 1f8170a47d
commit 82c6d37a59
3 changed files with 11 additions and 4 deletions
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10
ArduPlane/mode_rtl.cpp
View File

@ -108,11 +108,17 @@ void ModeRTL::navigate()
// Switch to QRTL if enabled and within radius
bool ModeRTL::switch_QRTL(bool check_loiter_target)
{
if (!plane.quadplane.available() || (plane.quadplane.rtl_mode != QuadPlane::RTL_MODE::SWITCH_QRTL)) {
{
if (!plane.quadplane.available() || ((plane.quadplane.rtl_mode != QuadPlane::RTL_MODE::SWITCH_QRTL) && (plane.quadplane.rtl_mode != QuadPlane::RTL_MODE::QRTL_ALWAYS))) {
return false;
}
// if Q_RTL_MODE is QRTL always, then immediately switch to QRTL mode
if (plane.quadplane.rtl_mode == QuadPlane::RTL_MODE::QRTL_ALWAYS) {
plane.set_mode(plane.mode_qrtl, ModeReason::QRTL_INSTEAD_OF_RTL);
return true;
}
uint16_t qrtl_radius = abs(plane.g.rtl_radius);
if (qrtl_radius == 0) {
qrtl_radius = abs(plane.aparm.loiter_radius);

4
ArduPlane/quadplane.cpp
View File

@ -195,8 +195,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: RTL_MODE
// @DisplayName: VTOL RTL mode
// @Description: If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RLT_ALT and then transission into the wind and QRTL, see 'AUTO VTOL Landing'
// @Values: 0:Disabled,1:Enabled,2:VTOL approach
// @Description: If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RLT_ALT and then transission into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead of RTL
// @Values: 0:Disabled,1:Enabled,2:VTOL approach,3:QRTL Always
// @User: Standard
AP_GROUPINFO("RTL_MODE", 36, QuadPlane, rtl_mode, 0),

1
ArduPlane/quadplane.h
View File

@ -362,6 +362,7 @@ private:
NONE,
SWITCH_QRTL,
VTOL_APPROACH_QRTL,
QRTL_ALWAYS,
};
// control if a VTOL GUIDED will be used