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Plane: use a common reset for uniform landing wipe

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This commit is contained in:
Tom Pittenger 2016-12-06 17:30:48 -08:00
parent f09007cbe9
commit 83f0a8114b
4 changed files with 6 additions and 14 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -569,8 +569,6 @@ void Plane::handle_auto_mode(void)
if (nav_cmd_id != MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT) {
steer_state.hold_course_cd = -1;
}
landing.complete = false;
landing.pre_flare = false;
calc_nav_roll();
calc_nav_pitch();
calc_throttle();

2
ArduPlane/altitude.cpp
View File

@ -657,7 +657,7 @@ void Plane::rangefinder_height_update(void)
if (now - rangefinder_state.last_correction_time_ms > 5000) {
rangefinder_state.correction = correction;
rangefinder_state.initial_correction = correction;
landing.initial_slope = landing.slope;
landing.set_initial_slope();
rangefinder_state.last_correction_time_ms = now;
} else {
rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction;

9
ArduPlane/commands_logic.cpp
View File

@ -13,10 +13,11 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
landing.reset();
// special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle
landing.init_start_nav_cmd();
auto_state.sink_rate = 0;
// set takeoff_complete to true so we don't add extra elevator
@ -137,8 +138,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_LAND_START:
//ensure go around hasn't been set
landing.commanded_go_around = false;
// handled in landing.reset()
break;
case MAV_CMD_DO_FENCE_ENABLE:
@ -382,7 +382,6 @@ void Plane::do_nav_wp(const AP_Mission::Mission_Command& cmd)
void Plane::do_land(const AP_Mission::Mission_Command& cmd)
{
landing.commanded_go_around = false;
set_next_WP(cmd.content.location);
// configure abort altitude and pitch
@ -398,8 +397,6 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
auto_state.takeoff_pitch_cd = 1000;
}
landing.slope = 0;
// zero rangefinder state, start to accumulate good samples now
memset(&rangefinder_state, 0, sizeof(rangefinder_state));
}

7
ArduPlane/system.cpp
View File

@ -337,11 +337,8 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
// reset landing check
auto_state.checked_for_autoland = false;
// reset go around command
landing.commanded_go_around = false;
// not in pre-flare
landing.pre_flare = false;
// reset landing
landing.reset();
// zero locked course
steer_state.locked_course_err = 0;