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Copter: follow mode restores offsets to zero on exit

This commit is contained in:
Randy Mackay 2019-10-04 10:24:51 +09:00
parent 0ab5ebbd9b
commit ca92f0505e
3 changed files with 13 additions and 0 deletions
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6
ArduCopter/mode.cpp
View File

@ -314,6 +314,12 @@ void Copter::exit_mode(Mode *&old_flightmode,
} }
#endif #endif
#if MODE_FOLLOW_ENABLED == ENABLED
if (old_flightmode == &mode_follow) {
mode_follow.exit();
}
#endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// firmly reset the flybar passthrough to false when exiting acro mode. // firmly reset the flybar passthrough to false when exiting acro mode.
if (old_flightmode == &mode_acro) { if (old_flightmode == &mode_acro) {

1
ArduCopter/mode.h
View File

@ -1256,6 +1256,7 @@ public:
using ModeGuided::Mode; using ModeGuided::Mode;
bool init(bool ignore_checks) override; bool init(bool ignore_checks) override;
void exit();
void run() override; void run() override;
bool requires_GPS() const override { return true; } bool requires_GPS() const override { return true; }

6
ArduCopter/mode_follow.cpp
View File

@ -24,6 +24,12 @@ bool ModeFollow::init(const bool ignore_checks)
return ModeGuided::init(ignore_checks); return ModeGuided::init(ignore_checks);
} }
// perform cleanup required when leaving follow mode
void ModeFollow::exit()
{
g2.follow.clear_offsets_if_required();
}
void ModeFollow::run() void ModeFollow::run()
{ {
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately