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ArduCopter: replace FS_THR_RTL_MIN_DISTANCE with wp_radius

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This effectively means that an RTL kicked off by a failsafe will
immediately switch to LAND mode only if within 2 meters.  Previously the
radius was much wider (15m).
This commit is contained in:
Randy Mackay 2013-01-12 11:40:03 +09:00 committed by Andrew Tridgell
parent 19abdc3cd3
commit 9ad6f711f8
2 changed files with 4 additions and 8 deletions
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4
ArduCopter/config.h
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@ -501,10 +501,6 @@
# define FS_THR_VALUE_DEFAULT 975 # define FS_THR_VALUE_DEFAULT 975
#endif #endif
#ifndef FS_THR_RTL_MIN_DISTANCE
# define FS_THR_RTL_MIN_DISTANCE 1500 // the minimum distance from home in which
#endif
#ifndef MINIMUM_THROTTLE #ifndef MINIMUM_THROTTLE
# define MINIMUM_THROTTLE 130 # define MINIMUM_THROTTLE 130

8
ArduCopter/events.pde
View File

@ -18,7 +18,7 @@ static void failsafe_on_event()
// if throttle is zero disarm motors // if throttle is zero disarm motors
if (g.rc_3.control_in == 0) { if (g.rc_3.control_in == 0) {
init_disarm_motors(); init_disarm_motors();
}else if(ap.home_is_set == true && home_distance >= FS_THR_RTL_MIN_DISTANCE) { }else if(ap.home_is_set == true && home_distance > g.waypoint_radius) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
// We have no GPS or are very close to home so we will land // We have no GPS or are very close to home so we will land
@ -28,7 +28,7 @@ static void failsafe_on_event()
case AUTO: case AUTO:
// failsafe_throttle is 1 do RTL, 2 means continue with the mission // failsafe_throttle is 1 do RTL, 2 means continue with the mission
if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) { if (g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_RTL) {
if(home_distance >= FS_THR_RTL_MIN_DISTANCE) { if(home_distance > g.waypoint_radius) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
// We are very close to home so we will land // We are very close to home so we will land
@ -38,7 +38,7 @@ static void failsafe_on_event()
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break; break;
default: default:
if(ap.home_is_set == true && home_distance >= FS_THR_RTL_MIN_DISTANCE) { if(ap.home_is_set == true && home_distance > g.waypoint_radius) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
// We have no GPS or are very close to home so we will land // We have no GPS or are very close to home so we will land
@ -77,7 +77,7 @@ static void low_battery_event(void)
} }
break; break;
case AUTO: case AUTO:
if(ap.home_is_set == true && home_distance >= FS_THR_RTL_MIN_DISTANCE) { if(ap.home_is_set == true && home_distance > g.waypoint_radius) {
set_mode(RTL); set_mode(RTL);
}else{ }else{
// We have no GPS or are very close to home so we will land // We have no GPS or are very close to home so we will land