Copter: reset loiter target when landed

ArduCopter/AP_State.pde

@@ -104,6 +104,8 @@ void set_land_complete(bool b)
 
     if(b){
         Log_Write_Event(DATA_LAND_COMPLETE);
+    }else{
+        Log_Write_Event(DATA_NOT_LANDED);
     }
     ap.land_complete = b;
 }

ArduCopter/ArduCopter.pde

@@ -378,7 +378,7 @@ static union {
         uint8_t rc_override_active  : 1; // 14   // true if rc control are overwritten by ground station
         uint8_t do_flip             : 1; // 15   // Used to enable flip code
         uint8_t takeoff_complete    : 1; // 16
-        uint8_t land_complete       : 1; // 17
+        uint8_t land_complete       : 1; // 17   // true if we have detected a landing
         uint8_t compass_status      : 1; // 18
         uint8_t gps_status          : 1; // 19
     };
@@ -1035,6 +1035,9 @@ static void fifty_hz_loop()
     // -------------------------
     update_throttle_mode();
 
+    // check if we've landed
+    update_land_detector();
+
 #if TOY_EDF == ENABLED
     edf_toy();
 #endif
@@ -1458,6 +1461,10 @@ void update_yaw_mode(void)
     switch(yaw_mode) {
 
     case YAW_HOLD:
+        // if we are landed reset yaw target to current heading
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }
         // heading hold at heading held in nav_yaw but allow input from pilot
         get_yaw_rate_stabilized_ef(g.rc_4.control_in);
         break;
@@ -1472,9 +1479,14 @@ void update_yaw_mode(void)
         break;
 
     case YAW_LOOK_AT_NEXT_WP:
-        // point towards next waypoint (no pilot input accepted)
+        // if we are landed reset yaw target to current heading
-        // we don't use wp_bearing because we don't want the copter to turn too much during flight
+        if (ap.land_complete) {
-        nav_yaw = get_yaw_slew(nav_yaw, original_wp_bearing, AUTO_YAW_SLEW_RATE);
+            nav_yaw = ahrs.yaw_sensor;
+        }else{
+            // point towards next waypoint (no pilot input accepted)
+            // we don't use wp_bearing because we don't want the copter to turn too much during flight
+            nav_yaw = get_yaw_slew(nav_yaw, original_wp_bearing, AUTO_YAW_SLEW_RATE);
+        }
         get_stabilize_yaw(nav_yaw);
 
         // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
@@ -1484,6 +1496,10 @@ void update_yaw_mode(void)
         break;
 
     case YAW_LOOK_AT_LOCATION:
+        // if we are landed reset yaw target to current heading
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }
         // point towards a location held in yaw_look_at_WP
         get_look_at_yaw();
 
@@ -1494,6 +1510,10 @@ void update_yaw_mode(void)
         break;
 
     case YAW_CIRCLE:
+        // if we are landed reset yaw target to current heading
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }
         // points toward the center of the circle or does a panorama
         get_circle_yaw();
 
@@ -1504,8 +1524,13 @@ void update_yaw_mode(void)
         break;
 
     case YAW_LOOK_AT_HOME:
-        // keep heading always pointing at home with no pilot input allowed
+        // if we are landed reset yaw target to current heading
-        nav_yaw = get_yaw_slew(nav_yaw, home_bearing, AUTO_YAW_SLEW_RATE);
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }else{
+            // keep heading always pointing at home with no pilot input allowed
+            nav_yaw = get_yaw_slew(nav_yaw, home_bearing, AUTO_YAW_SLEW_RATE);
+        }
         get_stabilize_yaw(nav_yaw);
 
         // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
@@ -1515,28 +1540,47 @@ void update_yaw_mode(void)
         break;
 
     case YAW_LOOK_AT_HEADING:
-        // keep heading pointing in the direction held in yaw_look_at_heading with no pilot input allowed
+        // if we are landed reset yaw target to current heading
-        nav_yaw = get_yaw_slew(nav_yaw, yaw_look_at_heading, yaw_look_at_heading_slew);
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }else{
+            // keep heading pointing in the direction held in yaw_look_at_heading with no pilot input allowed
+            nav_yaw = get_yaw_slew(nav_yaw, yaw_look_at_heading, yaw_look_at_heading_slew);
+        }
         get_stabilize_yaw(nav_yaw);
         break;
 
 	case YAW_LOOK_AHEAD:
+        // if we are landed reset yaw target to current heading
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }
 		// Commanded Yaw to automatically look ahead.
         get_look_ahead_yaw(g.rc_4.control_in);
         break;
 
 #if TOY_LOOKUP == TOY_EXTERNAL_MIXER
     case YAW_TOY:
-        // update to allow external roll/yaw mixing
+        // if we are landed reset yaw target to current heading
-        // keep heading always pointing at home with no pilot input allowed
+        if (ap.land_complete) {
-        nav_yaw = get_yaw_slew(nav_yaw, home_bearing, AUTO_YAW_SLEW_RATE);
+            nav_yaw = ahrs.yaw_sensor;
+        }else{
+            // update to allow external roll/yaw mixing
+            // keep heading always pointing at home with no pilot input allowed
+            nav_yaw = get_yaw_slew(nav_yaw, home_bearing, AUTO_YAW_SLEW_RATE);
+        }
         get_stabilize_yaw(nav_yaw);
         break;
 #endif
 
     case YAW_RESETTOARMEDYAW:
-        // changes yaw to be same as when quad was armed
+        // if we are landed reset yaw target to current heading
-        nav_yaw = get_yaw_slew(nav_yaw, initial_armed_bearing, AUTO_YAW_SLEW_RATE);
+        if (ap.land_complete) {
+            nav_yaw = ahrs.yaw_sensor;
+        }else{
+            // changes yaw to be same as when quad was armed
+            nav_yaw = get_yaw_slew(nav_yaw, initial_armed_bearing, AUTO_YAW_SLEW_RATE);
+        }
         get_stabilize_yaw(nav_yaw);
 
         // if there is any pilot input, switch to YAW_HOLD mode for the next iteration
@@ -1706,12 +1750,18 @@ void update_roll_pitch_mode(void)
         control_roll            = g.rc_1.control_in;
         control_pitch           = g.rc_2.control_in;
 
-        // update loiter target from user controls - max velocity is 5.0 m/s
+        // if landed simply keep the copter level
-        wp_nav.move_loiter_target(control_roll, control_pitch,0.01f);
+        if (ap.land_complete) {
+            nav_roll = 0;
+            nav_pitch = 0;
+        }else{
+            // update loiter target from user controls
+            wp_nav.move_loiter_target(control_roll, control_pitch,0.01f);
 
-        // copy latest output from nav controller to stabilize controller
+            // copy latest output from nav controller to stabilize controller
-        nav_roll = wp_nav.get_desired_roll();
+            nav_roll = wp_nav.get_desired_roll();
-        nav_pitch = wp_nav.get_desired_pitch();
+            nav_pitch = wp_nav.get_desired_pitch();
+        }
         get_stabilize_roll(nav_roll);
         get_stabilize_pitch(nav_pitch);
         break;
@@ -1806,8 +1856,7 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
             break;
 
         case THROTTLE_LAND:
-            set_land_complete(false);   // mark landing as incomplete
+            reset_land_detector();  // initialise land detector
-            land_detector = 0;          // A counter that goes up if our climb rate stalls out.
             controller_desired_alt = get_initial_alt_hold(current_loc.alt, climb_rate);   // reset controller desired altitude to current altitude
             throttle_initialised = true;
             break;

ArduCopter/Attitude.pde

@@ -891,7 +891,7 @@ get_throttle_accel(int16_t z_target_accel)
     i = g.pid_throttle_accel.get_integrator();
 
     // update i term as long as we haven't breached the limits or the I term will certainly reduce
-    if ((!motors.limit.throttle_lower && !motors.limit.throttle_lower) || (i>0&&z_accel_error<0) || (i<0&&z_accel_error>0)) {
+    if ((!motors.limit.throttle_lower && !motors.limit.throttle_upper) || (i>0&&z_accel_error<0) || (i<0&&z_accel_error>0)) {
         i = g.pid_throttle_accel.get_i(z_accel_error, .01f);
     }
 
@@ -1150,25 +1150,46 @@ get_throttle_land()
     }else{
         get_throttle_rate_stabilized(-abs(g.land_speed));
 
-        // detect whether we have landed by watching for minimum throttle and now movement
+        // disarm when the landing detector says we've landed and throttle is at min (or we're in failsafe so we have no pilot thorottle input)
-        if (abs(climb_rate) < 20 && (g.rc_3.servo_out <= get_angle_boost(g.throttle_min) || g.pid_throttle_accel.get_integrator() <= -150)) {
+        if( ap.land_complete && (g.rc_3.control_in == 0 || ap.failsafe_radio) ) {
-            if( land_detector < LAND_DETECTOR_TRIGGER ) {
+            init_disarm_motors();
-                land_detector++;
-            }else{
-                set_land_complete(true);
-                if( g.rc_3.control_in == 0 || ap.failsafe_radio ) {
-                    init_disarm_motors();
-                }
-            }
-        }else{
-            // we've sensed movement up or down so decrease land_detector
-            if (land_detector > 0 ) {
-                land_detector--;
-            }
         }
     }
 }
 
+// reset_land_detector - initialises land detector
+static void reset_land_detector()
+{
+    set_land_complete(false);
+    land_detector = 0;
+}
+
+// update_land_detector - checks if we have landed and updates the ap.land_complete flag
+// returns true if we have landed
+static bool update_land_detector()
+{
+    // detect whether we have landed by watching for low climb rate and minimum throttle
+    if (abs(climb_rate) < 20 && motors.limit.throttle_lower) {
+        // run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
+        if( land_detector < LAND_DETECTOR_TRIGGER ) {
+            land_detector++;
+        }else{
+            if(!ap.land_complete) {
+                set_land_complete(true);
+            }
+        }
+    }else{
+        // we've sensed movement up or down so reset land_detector
+        land_detector = 0;
+        if(ap.land_complete) {
+            set_land_complete(false);
+        }
+    }
+
+    // return current state of landing
+    return ap.land_complete;
+}
+
 // get_throttle_surface_tracking - hold copter at the desired distance above the ground
 // updates accel based throttle controller targets
 static void

ArduCopter/defines.h

@@ -307,6 +307,7 @@ enum ap_message {
 #define DATA_AUTO_ARMED                 15
 #define DATA_TAKEOFF                    16
 #define DATA_LAND_COMPLETE              18
+#define DATA_NOT_LANDED                 28
 #define DATA_LOST_GPS                   19
 #define DATA_BEGIN_FLIP                 21
 #define DATA_END_FLIP                   22

ArduCopter/navigation.pde

@@ -159,6 +159,10 @@ static void update_nav_mode()
             break;
 
         case NAV_LOITER:
+            // reset target if we are still on the ground
+            if (ap.land_complete) {
+                wp_nav.init_loiter_target(inertial_nav.get_position(),inertial_nav.get_velocity());
+            }
             // call loiter controller
             wp_nav.update_loiter();
             break;

ArduCopter/system.pde

@@ -347,10 +347,6 @@ static bool set_mode(uint8_t mode)
     // boolean to record if flight mode could be set
     bool success = false;
 
-    // if we change modes, we must clear landed flag
-    // To-Do: this should be initialised in one of the flight modes
-    set_land_complete(false);
-
     // report the GPS and Motor arming status
     // To-Do: this should be initialised somewhere else related to the LEDs
     led_mode = NORMAL_LEDS;