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Copter: rename AltHold states and swap order within select statement 

No functional change
This commit is contained in:
Randy Mackay 2016-05-05 21:51:56 +09:00
parent 932cd907d4
commit 9c12b64ba5
2 changed files with 24 additions and 23 deletions
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43
ArduCopter/control_althold.cpp
View File

@ -64,9 +64,9 @@ void Copter::althold_run()
// Alt Hold State Machine Determination
if (!motors.armed() || !motors.get_interlock()) {
althold_state = AltHold_MotorStop;
althold_state = AltHold_MotorStopped;
} else if (!ap.auto_armed){
althold_state = AltHold_Disarmed;
althold_state = AltHold_NotAutoArmed;
} else if (takeoff_state.running || takeoff_triggered){
althold_state = AltHold_Takeoff;
} else if (ap.land_complete){
@ -78,23 +78,9 @@ void Copter::althold_run()
// Alt Hold State Machine
switch (althold_state) {
case AltHold_Disarmed:
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
attitude_control.set_yaw_target_to_current_heading();
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// Multicopter do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif // HELI_FRAME
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case AltHold_MotorStop:
case AltHold_MotorStopped:
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
#if FRAME_CONFIG == HELI_FRAME
// helicopters are capable of flying even with the motor stopped, therefore we will attempt to keep flying
// call attitude controller
@ -103,11 +89,26 @@ void Copter::althold_run()
// force descent rate and call position controller
pos_control.set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
pos_control.update_z_controller();
#else // Multicopter do not stabilize roll/pitch/yaw when motor are stopped
motors.set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
#else
// Multicopters do not stabilize roll/pitch/yaw when motor are stopped
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
#endif // HELI_FRAME
#endif
break;
case AltHold_NotAutoArmed:
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
#if FRAME_CONFIG == HELI_FRAME
// Helicopters always stabilize roll/pitch/yaw
attitude_control.set_yaw_target_to_current_heading();
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
// Multicopters do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
break;
case AltHold_Takeoff:

4
ArduCopter/defines.h
View File

@ -216,8 +216,8 @@ enum RTLState {
// Alt_Hold states
enum AltHoldModeState {
AltHold_Disarmed,
AltHold_MotorStop,
AltHold_MotorStopped,
AltHold_NotAutoArmed,
AltHold_Takeoff,
AltHold_Flying,
AltHold_Landed