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Copter: fix compilation when rtl option is disabled

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Tatsuya Yamaguchi 2021-01-09 12:17:08 +09:00 committed by Randy Mackay
parent 621fa857b7
commit b7f5aa7eab
2 changed files with 17 additions and 4 deletions
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18
ArduCopter/avoidance_adsb.cpp
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@ -144,6 +144,16 @@ void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND(Mode::Number mode)
} }
} }
int16_t AP_Avoidance_Copter::get_altitude_minimum() const
{
#if MODE_RTL_ENABLED == ENABLED
// do not descend if below RTL alt
return copter.g.rtl_altitude;
#else
return 0;
#endif
}
// check flight mode is avoid_adsb // check flight mode is avoid_adsb
bool AP_Avoidance_Copter::check_flightmode(bool allow_mode_change) bool AP_Avoidance_Copter::check_flightmode(bool allow_mode_change)
{ {
@ -179,8 +189,8 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
velocity_neu.z = copter.wp_nav->get_default_speed_up(); velocity_neu.z = copter.wp_nav->get_default_speed_up();
} else { } else {
velocity_neu.z = -copter.wp_nav->get_default_speed_down(); velocity_neu.z = -copter.wp_nav->get_default_speed_down();
// do not descend if below RTL alt // do not descend if below minimum altitude
if (copter.current_loc.alt < copter.g.rtl_altitude) { if (copter.current_loc.alt < get_altitude_minimum()) {
velocity_neu.z = 0.0f; velocity_neu.z = 0.0f;
} }
} }
@ -238,8 +248,8 @@ bool AP_Avoidance_Copter::handle_avoidance_perpendicular(const AP_Avoidance::Obs
velocity_neu.z *= copter.wp_nav->get_default_speed_up(); velocity_neu.z *= copter.wp_nav->get_default_speed_up();
} else { } else {
velocity_neu.z *= copter.wp_nav->get_default_speed_down(); velocity_neu.z *= copter.wp_nav->get_default_speed_down();
// do not descend if below RTL alt // do not descend if below minimum altitude
if (copter.current_loc.alt < copter.g.rtl_altitude) { if (copter.current_loc.alt < get_altitude_minimum()) {
velocity_neu.z = 0.0f; velocity_neu.z = 0.0f;
} }
} }

3
ArduCopter/avoidance_adsb.h
View File

@ -19,6 +19,9 @@ private:
// helper function to set modes and always succeed // helper function to set modes and always succeed
void set_mode_else_try_RTL_else_LAND(Mode::Number mode); void set_mode_else_try_RTL_else_LAND(Mode::Number mode);
// get minimum limit altitude allowed on descend
int16_t get_altitude_minimum() const;
protected: protected:
// override avoidance handler // override avoidance handler
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override; MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;