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Plane: Report MAV_STATE_ACTIVE if flying, MAV_STATE_STANDBY otherwise 

(There are also various error states MAV_STATE_CRITICAL that are unchanged
by this check in).

The is_flying() check is similar to the code in suppress_throttle, but
I wanted to make it very optimistic on thinking we are flying - which is
not what you want for set_throttle...

(AC has similar MAV_STATE_ACTIVE vs MAV_STATE_STANDBY behavior now)
This commit is contained in:
Kevin Hester 2013-09-14 15:09:02 -10:00 committed by Andrew Tridgell
parent bcce2e4fc5
commit 996eda0080
2 changed files with 22 additions and 1 deletions
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21
ArduPlane/Attitude.pde
View File

@ -517,6 +517,27 @@ no_launch:
}
/**
Do we think we are flying?
This is a heuristic so it could be wrong in some cases. In particular, if we don't have GPS lock we'll fall
back to only using altitude. (This is probably more optimistic than what suppress_throttle wants...)
*/
static bool is_flying(void)
{
// If we don't have a GPS lock then don't use GPS for this test
bool gpsMovement = (g_gps == NULL ||
g_gps->status() < GPS::GPS_OK_FIX_2D ||
g_gps->ground_speed_cm >= 500);
bool airspeedMovement = !airspeed.use() || airspeed.get_airspeed() >= 5;
// we're more than 5m from the home altitude
bool inAir = relative_altitude_abs_cm() > 500;
return inAir && gpsMovement && airspeedMovement;
}
/* We want to supress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
Disable throttle if following conditions are met:

2
ArduPlane/GCS_Mavlink.pde
View File

@ -25,7 +25,7 @@ static bool gcs_out_of_time;
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
{
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = MAV_STATE_ACTIVE;
uint8_t system_status = is_flying() ? MAV_STATE_ACTIVE : MAV_STATE_STANDBY;
uint32_t custom_mode = control_mode;
if (failsafe.state != FAILSAFE_NONE) {