Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 01:33:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: land mode minor format fixes

Browse Source
This commit is contained in:
Randy Mackay 2018-10-25 10:23:57 +09:00
parent 06aa29eb2a
commit 8fdd439827
1 changed files with 7 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
ArduCopter/mode_land.cpp
View File

@ -27,9 +27,8 @@ bool Copter::ModeLand::init(bool ignore_checks)
pos_control->set_alt_target_to_current_alt(); pos_control->set_alt_target_to_current_alt();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
} }
land_start_time = millis();
land_start_time = millis();
land_pause = false; land_pause = false;
// reset flag indicating if pilot has applied roll or pitch inputs during landing // reset flag indicating if pilot has applied roll or pitch inputs during landing
@ -44,7 +43,7 @@ void Copter::ModeLand::run()
{ {
if (land_with_gps) { if (land_with_gps) {
gps_run(); gps_run();
}else{ } else {
nogps_run(); nogps_run();
} }
} }
@ -66,15 +65,15 @@ void Copter::ModeLand::gps_run()
} }
return; return;
} }
// set motors to full range // set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// pause before beginning land descent // pause before beginning land descent
if(land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) { if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
land_pause = false; land_pause = false;
} }
land_run_horizontal_control(); land_run_horizontal_control();
land_run_vertical_control(land_pause); land_run_vertical_control(land_pause);
} }
@ -133,7 +132,7 @@ void Copter::ModeLand::nogps_run()
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// pause before beginning land descent // pause before beginning land descent
if(land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) { if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
land_pause = false; land_pause = false;
} }