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Plane: Parameterize the home altitude reset conditions

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This commit is contained in:
Michael du Breuil 2017-08-28 15:20:13 -07:00 committed by Tom Pittenger
parent e492c733d8
commit 8630037fd7
3 changed files with 16 additions and 1 deletions
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9
ArduPlane/Parameters.cpp
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@ -1176,6 +1176,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Advanced
AP_GROUPINFO("MANUAL_RCMASK", 10, ParametersG2, manual_rc_mask, 0),
// @Param: HOME_RESET_ALT
// @DisplayName: Home reset altitude threshold
// @Description: When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it.
// @Values: -1:Never reset,0:Always reset
// @Range: -1 127
// @Units: m
// @User: Advanced
AP_GROUPINFO("HOME_RESET_ALT", 11, ParametersG2, home_reset_threshold, 0),
AP_GROUPEND
};

4
ArduPlane/Parameters.h
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@ -541,6 +541,10 @@ public:
// mask of channels to do manual pass-thru for
AP_Int32 manual_rc_mask;
// home reset altitude threshold
AP_Int8 home_reset_threshold;
};
extern const AP_Param::Info var_info[];

4
ArduPlane/commands.cpp
View File

@ -126,7 +126,9 @@ void Plane::init_home()
*/
void Plane::update_home()
{
if (fabsf(barometer.get_altitude()) > 2) {
if ((g2.home_reset_threshold == -1) ||
((g2.home_reset_threshold > 0) &&
(fabsf(barometer.get_altitude()) > g2.home_reset_threshold))) {
// don't auto-update if we have changed barometer altitude
// significantly. This allows us to cope with slow baro drift
// but not re-do home and the baro if we have changed height