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Copter: resolve conflict between control_auto, control_rtl states

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Randy Mackay 2014-01-25 17:25:17 +09:00 committed by Andrew Tridgell
parent 055ce4e53e
commit b1449d59ee
1 changed files with 9 additions and 9 deletions
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18
ArduCopter/control_auto.pde
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@ -13,9 +13,9 @@
*/
enum AutoMode {
TakeOff,
WP,
Land
Auto_TakeOff,
Auto_WP,
Auto_Land
};
static AutoMode auto_mode; // controls which auto controller is run
@ -45,15 +45,15 @@ static void auto_run()
// call the correct auto controller
switch (auto_mode) {
case TakeOff:
case Auto_TakeOff:
auto_takeoff_run();
break;
case WP:
case Auto_WP:
auto_wp_run();
break;
case Land:
case Auto_Land:
auto_land_run();
break;
}
@ -62,7 +62,7 @@ static void auto_run()
// auto_takeoff_start - initialises waypoint controller to implement take-off
static void auto_takeoff_start(float final_alt)
{
auto_mode = TakeOff;
auto_mode = Auto_TakeOff;
// initialise wpnav destination
Vector3f target_pos = inertial_nav.get_position();
@ -112,7 +112,7 @@ static void auto_takeoff_run()
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
static void auto_wp_start(const Vector3f& destination)
{
auto_mode = WP;
auto_mode = Auto_WP;
// initialise wpnav
wp_nav.set_wp_destination(destination);
@ -181,7 +181,7 @@ static void auto_land_start()
// auto_land_start - initialises controller to implement a landing
static void auto_land_start(const Vector3f& destination)
{
auto_mode = Land;
auto_mode = Auto_Land;
// initialise loiter target destination
wp_nav.set_loiter_target(destination);