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Plane: fixed issue where auto is entered before GPS lock 

thanks to Tom Pittenger for noticing this!
This commit is contained in:
Andrew Tridgell 2015-02-25 22:54:52 +11:00
parent 98b583bccc
commit 999710d0e1
3 changed files with 19 additions and 5 deletions
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7
ArduPlane/ArduPlane.pde
View File

@ -530,8 +530,9 @@ static struct {
// denotes if a go-around has been commanded for landing
bool commanded_go_around:1;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
int32_t takeoff_altitude_cm;
// Altitude threshold to complete a takeoff command in autonomous
// modes. Centimeters above home
int32_t takeoff_altitude_rel_cm;
// Minimum pitch to hold during takeoff command execution. Hundredths of a degree
int16_t takeoff_pitch_cd;
@ -566,7 +567,7 @@ static struct {
fbwa_tdrag_takeoff_mode : false,
checked_for_autoland : false,
commanded_go_around : false,
takeoff_altitude_cm : 0,
takeoff_altitude_rel_cm : 0,
takeoff_pitch_cd : 0,
highest_airspeed : 0,
initial_pitch_cd : 0,

10
ArduPlane/altitude.pde
View File

@ -414,6 +414,16 @@ static int32_t adjusted_altitude_cm(void)
return current_loc.alt - (g.alt_offset*100);
}
/*
return home-relative altitude adjusted for ALT_OFFSET This is useful
during long flights to account for barometer changes from the GCS,
or to adjust the flying height of a long mission
*/
static int32_t adjusted_relative_altitude_cm(void)
{
return adjusted_altitude_cm() - home.alt;
}
/*
return the height in meters above the next_WP_loc altitude
*/

7
ArduPlane/commands_logic.pde
View File

@ -300,7 +300,7 @@ static void do_takeoff(const AP_Mission::Mission_Command& cmd)
set_next_WP(cmd.content.location);
// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
auto_state.takeoff_pitch_cd = (int16_t)cmd.p1 * 100;
auto_state.takeoff_altitude_cm = next_WP_loc.alt;
auto_state.takeoff_altitude_rel_cm = next_WP_loc.alt - home.alt;
next_WP_loc.lat = home.lat + 10;
next_WP_loc.lng = home.lng + 10;
auto_state.takeoff_speed_time_ms = 0;
@ -398,7 +398,10 @@ static bool verify_takeoff()
}
// see if we have reached takeoff altitude
if (adjusted_altitude_cm() > auto_state.takeoff_altitude_cm) {
int32_t relative_alt_cm = adjusted_relative_altitude_cm();
if (relative_alt_cm > auto_state.takeoff_altitude_rel_cm) {
gcs_send_text_fmt(PSTR("Takeoff complete at %.2fm"),
relative_alt_cm*0.01f);
steer_state.hold_course_cd = -1;
auto_state.takeoff_complete = true;
next_WP_loc = prev_WP_loc = current_loc;