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Copter: replace takeoff_complete with landed_complete

This commit is contained in:
Randy Mackay 2014-01-30 17:36:40 +09:00 committed by Andrew Tridgell
parent 2940688301
commit bca309eb1e
5 changed files with 8 additions and 38 deletions
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13
ArduCopter/AP_State.pde
View File

@ -93,19 +93,6 @@ static void set_failsafe_gcs(bool b)
failsafe.gcs = b;
}
// ---------------------------------------------
void set_takeoff_complete(bool b)
{
// if no change, exit immediately
if( ap.takeoff_complete == b )
return;
if(b){
Log_Write_Event(DATA_TAKEOFF);
}
ap.takeoff_complete = b;
}
// ---------------------------------------------
void set_land_complete(bool b)
{

28
ArduCopter/ArduCopter.pde
View File

@ -409,14 +409,13 @@ static union {
uint8_t logging_started : 1; // 6 // true if dataflash logging has started
uint8_t do_flip : 1; // 7 // Used to enable flip code
uint8_t takeoff_complete : 1; // 8
uint8_t land_complete : 1; // 9 // true if we have detected a landing
uint8_t land_complete : 1; // 8 // true if we have detected a landing
uint8_t new_radio_frame : 1; // 10 // Set true if we have new PWM data to act on from the Radio
uint8_t CH7_flag : 2; // 11,12 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag : 2; // 13,14 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t usb_connected : 1; // 15 // true if APM is powered from USB connection
uint8_t yaw_stopped : 1; // 16 // Used to manage the Yaw hold capabilities
uint8_t new_radio_frame : 1; // 9 // Set true if we have new PWM data to act on from the Radio
uint8_t CH7_flag : 2; // 10,11 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag : 2; // 12,13 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t usb_connected : 1; // 14 // true if APM is powered from USB connection
uint8_t yaw_stopped : 1; // 15 // Used to manage the Yaw hold capabilities
uint8_t disable_stab_rate_limit : 1; // 17 // disables limits rate request from the stability controller
@ -1772,14 +1771,6 @@ void update_throttle_mode(void)
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
// check if we've taken off yet
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}
}
set_target_alt_for_reporting(0);
break;
@ -1798,13 +1789,6 @@ void update_throttle_mode(void)
#else
update_throttle_cruise(pilot_throttle_scaled);
#endif //HELI_FRAME
if (!ap.takeoff_complete && motors.armed()) {
if (pilot_throttle_scaled > g.throttle_cruise) {
// we must be in the air by now
set_takeoff_complete(true);
}
}
}
set_target_alt_for_reporting(0);
break;

1
ArduCopter/commands_logic.pde
View File

@ -376,7 +376,6 @@ static void do_loiter_time()
static bool verify_takeoff()
{
// have we reached our target altitude?
set_takeoff_complete(wp_nav.reached_wp_destination());
return wp_nav.reached_wp_destination();
}

2
ArduCopter/control_modes.pde
View File

@ -146,7 +146,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
switch(tmp_function) {
case AUX_SWITCH_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if((ch_flag == AUX_SWITCH_HIGH) && (g.rc_3.control_in >= 0) && ap.takeoff_complete) {
if((ch_flag == AUX_SWITCH_HIGH) && (g.rc_3.control_in >= 0) && !ap.land_complete) {
init_flip();
}
break;

2
ArduCopter/motors.pde
View File

@ -520,7 +520,7 @@ static void init_disarm_motors()
#endif
// we are not in the air
set_takeoff_complete(false);
set_land_complete(true);
// setup fast AHRS gains to get right attitude
ahrs.set_fast_gains(true);