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Copter: auto mode takeoff complete pos fix

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This commit is contained in:
Randy Mackay 2024-09-10 21:12:31 +09:00
parent bb2249f766
commit a2845e4222
3 changed files with 5 additions and 5 deletions
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2
ArduCopter/mode.h
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@ -15,7 +15,7 @@ class _AutoTakeoff {
public: public:
void run(); void run();
void start(float complete_alt_cm, bool terrain_alt); void start(float complete_alt_cm, bool terrain_alt);
bool get_position(Vector3p& completion_pos); bool get_completion_pos(Vector3p& pos_neu_cm);
bool complete; // true when takeoff is complete bool complete; // true when takeoff is complete

2
ArduCopter/mode_auto.cpp
View File

@ -427,7 +427,7 @@ bool ModeAuto::wp_start(const Location& dest_loc)
Vector3f stopping_point; Vector3f stopping_point;
if (_mode == SubMode::TAKEOFF) { if (_mode == SubMode::TAKEOFF) {
Vector3p takeoff_complete_pos; Vector3p takeoff_complete_pos;
if (auto_takeoff.get_position(takeoff_complete_pos)) { if (auto_takeoff.get_completion_pos(takeoff_complete_pos)) {
stopping_point = takeoff_complete_pos.tofloat(); stopping_point = takeoff_complete_pos.tofloat();
} }
} }

6
ArduCopter/takeoff.cpp
View File

@ -239,15 +239,15 @@ void _AutoTakeoff::start(float _complete_alt_cm, bool _terrain_alt)
} }
} }
// return takeoff final position if takeoff has completed successfully // return takeoff final target position in cm from the EKF origin if takeoff has completed successfully
bool _AutoTakeoff::get_position(Vector3p& _complete_pos) bool _AutoTakeoff::get_completion_pos(Vector3p& pos_neu_cm)
{ {
// only provide location if takeoff has completed // only provide location if takeoff has completed
if (!complete) { if (!complete) {
return false; return false;
} }
complete_pos = _complete_pos; pos_neu_cm = complete_pos;
return true; return true;
} }