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Copter: use simplified precland interface

This commit is contained in:
Jonathan Challinger 2016-06-21 14:22:51 -07:00 committed by Randy Mackay
parent f74e162451
commit 91a5b26725
3 changed files with 15 additions and 4 deletions
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2
ArduCopter/Copter.h
View File

@ -269,6 +269,8 @@ private:
uint32_t start_ms;
} takeoff_state;
uint32_t precland_last_update_ms;
RCMapper rcmap;
// board specific config

9
ArduCopter/control_auto.cpp
View File

@ -420,10 +420,15 @@ void Copter::auto_land_run()
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
#if PRECISION_LANDING == ENABLED
// run precision landing
if (!ap.land_repo_active) {
wp_nav.shift_loiter_target(precland.get_target_shift(wp_nav.get_loiter_target()));
if (!ap.land_repo_active && precland.target_acquired() && precland_last_update_ms != precland.last_update_ms()) {
Vector3f target_pos;
precland.get_target_position(target_pos);
pos_control.set_xy_target(target_pos.x, target_pos.y);
pos_control.freeze_ff_xy();
precland_last_update_ms = precland.last_update_ms();
}
#endif

8
ArduCopter/control_land.cpp
View File

@ -123,8 +123,12 @@ void Copter::land_gps_run()
#if PRECISION_LANDING == ENABLED
// run precision landing
if (!ap.land_repo_active) {
wp_nav.shift_loiter_target(precland.get_target_shift(wp_nav.get_loiter_target()));
if (!ap.land_repo_active && precland.target_acquired() && precland_last_update_ms != precland.last_update_ms()) {
Vector3f target_pos;
precland.get_target_position(target_pos);
pos_control.set_xy_target(target_pos.x, target_pos.y);
pos_control.freeze_ff_xy();
precland_last_update_ms = precland.last_update_ms();
}
#endif