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calc_wind_compensation called when exiting AP modes

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Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
This commit is contained in:
Jason Short 2012-01-03 10:35:18 -08:00
parent e6887aa3ec
commit a1c3ce88a0
1 changed files with 12 additions and 6 deletions
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18
ArduCopter/system.pde
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@ -440,6 +440,7 @@ static void set_mode(byte mode)
yaw_mode = YAW_ACRO; yaw_mode = YAW_ACRO;
roll_pitch_mode = ROLL_PITCH_ACRO; roll_pitch_mode = ROLL_PITCH_ACRO;
throttle_mode = THROTTLE_MANUAL; throttle_mode = THROTTLE_MANUAL;
reset_rate_I();
break; break;
case STABILIZE: case STABILIZE:
@ -454,6 +455,8 @@ static void set_mode(byte mode)
throttle_mode = ALT_HOLD_THR; throttle_mode = ALT_HOLD_THR;
next_WP = current_loc; next_WP = current_loc;
// 1m is the alt hold limit
next_WP.alt = max(next_WP.alt, 100);
break; break;
case AUTO: case AUTO:
@ -469,15 +472,16 @@ static void set_mode(byte mode)
yaw_mode = CIRCLE_YAW; yaw_mode = CIRCLE_YAW;
roll_pitch_mode = CIRCLE_RP; roll_pitch_mode = CIRCLE_RP;
throttle_mode = CIRCLE_THR; throttle_mode = CIRCLE_THR;
next_WP = current_loc; next_WP = current_loc;
// reset the desired circle angle
circle_angle = 0;
break; break;
case LOITER: case LOITER:
yaw_mode = LOITER_YAW; yaw_mode = LOITER_YAW;
roll_pitch_mode = LOITER_RP; roll_pitch_mode = LOITER_RP;
throttle_mode = LOITER_THR; throttle_mode = LOITER_THR;
next_WP = current_loc; next_WP = current_loc;
break; break;
@ -485,7 +489,6 @@ static void set_mode(byte mode)
yaw_mode = YAW_HOLD; yaw_mode = YAW_HOLD;
roll_pitch_mode = ROLL_PITCH_AUTO; roll_pitch_mode = ROLL_PITCH_AUTO;
throttle_mode = THROTTLE_MANUAL; throttle_mode = THROTTLE_MANUAL;
next_WP = current_loc; next_WP = current_loc;
break; break;
@ -493,12 +496,12 @@ static void set_mode(byte mode)
yaw_mode = YAW_AUTO; yaw_mode = YAW_AUTO;
roll_pitch_mode = ROLL_PITCH_AUTO; roll_pitch_mode = ROLL_PITCH_AUTO;
throttle_mode = THROTTLE_AUTO; throttle_mode = THROTTLE_AUTO;
next_WP = current_loc;
next_WP = current_loc;
set_next_WP(&guided_WP); set_next_WP(&guided_WP);
break; break;
case LAND: case LAND:
land_complete = false;
yaw_mode = YAW_HOLD; yaw_mode = YAW_HOLD;
roll_pitch_mode = ROLL_PITCH_AUTO; roll_pitch_mode = ROLL_PITCH_AUTO;
throttle_mode = THROTTLE_AUTO; throttle_mode = THROTTLE_AUTO;
@ -530,8 +533,11 @@ static void set_mode(byte mode)
if(roll_pitch_mode <= ROLL_PITCH_ACRO){ if(roll_pitch_mode <= ROLL_PITCH_ACRO){
// We are under manual attitude control // We are under manual attitude control
// reset out nav parameters // removes the navigation from roll and pitch commands, but leaves the wind compensation
reset_nav(); reset_nav();
// removes the navigation from roll and pitch commands, but leaves the wind compensation
calc_wind_compensation();
} }
Log_Write_Mode(control_mode); Log_Write_Mode(control_mode);