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Plane: abstract land abort request method

This commit is contained in:
Tom Pittenger 2016-12-06 11:47:01 -08:00
parent 3dcf4cfb55
commit 8c1509ad47
2 changed files with 7 additions and 4 deletions
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2
ArduPlane/ArduPlane.cpp
View File

@ -978,7 +978,7 @@ void Plane::update_flight_stage(void)
set_flight_stage(AP_SpdHgtControl::FLIGHT_TAKEOFF);
} else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
if (landing.commanded_go_around || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
if (landing.is_commanded_go_around() || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
// abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_ABORT);
} else if (landing.get_abort_throttle_enable() && channel_throttle->get_control_in() >= 90) {

9
ArduPlane/GCS_Mavlink.cpp
View File

@ -1360,9 +1360,12 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
if (!is_zero(packet.param1)) {
plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
}
plane.landing.commanded_go_around = true;
result = MAV_RESULT_ACCEPTED;
if (plane.landing.request_go_around()) {
result = MAV_RESULT_ACCEPTED;
}
}
if (result == MAV_RESULT_ACCEPTED) {
plane.gcs_send_text(MAV_SEVERITY_INFO,"Go around command accepted");
} else {
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Rejected go around command");