Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: added auto_navigation_mode flag 

this fixes a problem where modes like loiter and auto would allow for
rudder stick mixing even with STICK_MIXING=0
This commit is contained in:
Andrew Tridgell 2016-07-05 12:52:13 +10:00
parent 0be442d34b
commit 96d785f1c6
4 changed files with 23 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/Attitude.cpp
View File

@ -38,7 +38,7 @@ float Plane::get_speed_scaler(void)
*/
bool Plane::stick_mixing_enabled(void)
{
if (auto_throttle_mode) {
if (auto_throttle_mode && auto_navigation_mode) {
// we're in an auto mode. Check the stick mixing flag
if (g.stick_mixing != STICK_MIXING_DISABLED &&
geofence_stickmixing() &&

8
ArduPlane/Plane.h
View File

@ -560,10 +560,14 @@ private:
// true if we are in an auto-throttle mode, which means
// we need to run the speed/height controller
bool auto_throttle_mode;
bool auto_throttle_mode:1;
// true if we are in an auto-navigation mode, which controls whether control input is ignored
// with STICK_MIXING=0
bool auto_navigation_mode:1;
// this controls throttle suppression in auto modes
bool throttle_suppressed;
bool throttle_suppressed:1;
// reduce throttle to eliminate battery over-current
int8_t throttle_watt_limit_max;

5
ArduPlane/radio.cpp
View File

@ -231,8 +231,11 @@ void Plane::read_radio()
// in rudder only mode we discard rudder input and get target
// attitude from the roll channel.
rudder_input = 0;
} else {
} else if (stick_mixing_enabled()) {
rudder_input = channel_rudder->get_control_in();
} else {
// no stick mixing
rudder_input = 0;
}
// check for transmitter tuning changes

12
ArduPlane/system.cpp
View File

@ -377,6 +377,7 @@ void Plane::set_mode(enum FlightMode mode)
{
case INITIALISING:
auto_throttle_mode = true;
auto_navigation_mode = false;
break;
case MANUAL:
@ -384,21 +385,25 @@ void Plane::set_mode(enum FlightMode mode)
case TRAINING:
case FLY_BY_WIRE_A:
auto_throttle_mode = false;
auto_navigation_mode = false;
break;
case AUTOTUNE:
auto_throttle_mode = false;
auto_navigation_mode = false;
autotune_start();
break;
case ACRO:
auto_throttle_mode = false;
auto_navigation_mode = false;
acro_state.locked_roll = false;
acro_state.locked_pitch = false;
break;
case CRUISE:
auto_throttle_mode = true;
auto_navigation_mode = false;
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
set_target_altitude_current();
@ -406,17 +411,20 @@ void Plane::set_mode(enum FlightMode mode)
case FLY_BY_WIRE_B:
auto_throttle_mode = true;
auto_navigation_mode = false;
set_target_altitude_current();
break;
case CIRCLE:
// the altitude to circle at is taken from the current altitude
auto_throttle_mode = true;
auto_navigation_mode = true;
next_WP_loc.alt = current_loc.alt;
break;
case AUTO:
auto_throttle_mode = true;
auto_navigation_mode = true;
if (quadplane.available() && quadplane.enable == 2) {
auto_state.vtol_mode = true;
} else {
@ -429,17 +437,20 @@ void Plane::set_mode(enum FlightMode mode)
case RTL:
auto_throttle_mode = true;
auto_navigation_mode = true;
prev_WP_loc = current_loc;
do_RTL(get_RTL_altitude());
break;
case LOITER:
auto_throttle_mode = true;
auto_navigation_mode = true;
do_loiter_at_location();
break;
case GUIDED:
auto_throttle_mode = true;
auto_navigation_mode = true;
guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
@ -454,6 +465,7 @@ void Plane::set_mode(enum FlightMode mode)
case QLOITER:
case QLAND:
case QRTL:
auto_navigation_mode = false;
if (!quadplane.init_mode()) {
control_mode = previous_mode;
} else {