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Plane: Quadplane: continue in mode loiter to Qland on failsafe, as with Qland

This commit is contained in:
Iampete1 2021-10-18 01:56:21 +01:00 committed by Andrew Tridgell
parent 085c5c815b
commit bfbd0d93c1
1 changed files with 4 additions and 8 deletions
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12
ArduPlane/events.cpp
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@ -70,9 +70,6 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
case Mode::Number::AVOID_ADSB: case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED: case Mode::Number::GUIDED:
case Mode::Number::LOITER: case Mode::Number::LOITER:
#if HAL_QUADPLANE_ENABLED
case Mode::Number::LOITER_ALT_QLAND:
#endif
case Mode::Number::THERMAL: case Mode::Number::THERMAL:
if(g.fs_action_short != FS_ACTION_SHORT_BESTGUESS) { if(g.fs_action_short != FS_ACTION_SHORT_BESTGUESS) {
failsafe.saved_mode_number = control_mode->mode_number(); failsafe.saved_mode_number = control_mode->mode_number();
@ -91,6 +88,7 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
case Mode::Number::QLAND: case Mode::Number::QLAND:
case Mode::Number::QRTL: case Mode::Number::QRTL:
case Mode::Number::LOITER_ALT_QLAND:
#endif #endif
case Mode::Number::INITIALISING: case Mode::Number::INITIALISING:
break; break;
@ -117,9 +115,6 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
case Mode::Number::TRAINING: case Mode::Number::TRAINING:
case Mode::Number::CIRCLE: case Mode::Number::CIRCLE:
case Mode::Number::LOITER: case Mode::Number::LOITER:
#if HAL_QUADPLANE_ENABLED
case Mode::Number::LOITER_ALT_QLAND:
#endif
case Mode::Number::THERMAL: case Mode::Number::THERMAL:
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) { if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
@ -172,6 +167,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
case Mode::Number::QLAND: case Mode::Number::QLAND:
case Mode::Number::QRTL: case Mode::Number::QRTL:
case Mode::Number::LOITER_ALT_QLAND:
#endif #endif
case Mode::Number::TAKEOFF: case Mode::Number::TAKEOFF:
case Mode::Number::INITIALISING: case Mode::Number::INITIALISING:
@ -223,7 +219,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
case Failsafe_Action_Land: { case Failsafe_Action_Land: {
bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND; bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND;
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (control_mode == &mode_qland) { if (control_mode == &mode_qland || control_mode == &mode_lotier_qland) {
already_landing = true; already_landing = true;
} }
#endif #endif
@ -244,7 +240,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
case Failsafe_Action_RTL: { case Failsafe_Action_RTL: {
bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND; bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND;
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (control_mode == &mode_qland || if (control_mode == &mode_qland || control_mode == &mode_lotier_qland ||
quadplane.in_vtol_land_sequence()) { quadplane.in_vtol_land_sequence()) {
already_landing = true; already_landing = true;
} }