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Copter: payload place fixups

This commit is contained in:
Randy Mackay 2020-10-07 20:41:27 +09:00
parent 000a2b17c3
commit b8c58bd900
1 changed files with 4 additions and 11 deletions
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15
ArduCopter/mode_auto.cpp
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@ -382,7 +382,6 @@ void ModeAuto::payload_place_start()
// call location specific place start function // call location specific place start function
payload_place_start(stopping_point); payload_place_start(stopping_point);
} }
// returns true if pilot's yaw input should be used to adjust vehicle's heading // returns true if pilot's yaw input should be used to adjust vehicle's heading
@ -1024,9 +1023,10 @@ void ModeAuto::payload_place_run()
case PayloadPlaceStateType_Releasing: case PayloadPlaceStateType_Releasing:
case PayloadPlaceStateType_Released: case PayloadPlaceStateType_Released:
case PayloadPlaceStateType_Ascending_Start: case PayloadPlaceStateType_Ascending_Start:
return payload_place_run_loiter();
case PayloadPlaceStateType_Ascending: case PayloadPlaceStateType_Ascending:
case PayloadPlaceStateType_Done: case PayloadPlaceStateType_Done:
return payload_place_run_loiter(); return wp_run();
} }
} }
@ -1057,13 +1057,6 @@ void ModeAuto::payload_place_run_loiter()
// loiter... // loiter...
land_run_horizontal_control(); land_run_horizontal_control();
// run loiter controller
loiter_nav->update();
// call attitude controller
const float target_yaw_rate = 0;
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
// call position controller // call position controller
pos_control->update_z_controller(); pos_control->update_z_controller();
} }
@ -1593,7 +1586,7 @@ bool ModeAuto::verify_payload_place()
const uint16_t placed_time = 500; // how long we have to be below a throttle threshold before considering placed const uint16_t placed_time = 500; // how long we have to be below a throttle threshold before considering placed
const float current_throttle_level = motors->get_throttle(); const float current_throttle_level = motors->get_throttle();
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
// if we discover we've landed then immediately release the load: // if we discover we've landed then immediately release the load:
if (copter.ap.land_complete) { if (copter.ap.land_complete) {
@ -1603,7 +1596,7 @@ bool ModeAuto::verify_payload_place()
case PayloadPlaceStateType_Calibrating_Hover: case PayloadPlaceStateType_Calibrating_Hover:
case PayloadPlaceStateType_Descending_Start: case PayloadPlaceStateType_Descending_Start:
case PayloadPlaceStateType_Descending: case PayloadPlaceStateType_Descending:
gcs().send_text(MAV_SEVERITY_INFO, "NAV_PLACE: landed"); gcs().send_text(MAV_SEVERITY_INFO, "PayloadPlace: landed");
nav_payload_place.state = PayloadPlaceStateType_Releasing_Start; nav_payload_place.state = PayloadPlaceStateType_Releasing_Start;
break; break;
case PayloadPlaceStateType_Releasing_Start: case PayloadPlaceStateType_Releasing_Start: