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converted auto land to use the mission planner version

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Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
This commit is contained in:
Jason Short 2012-01-07 22:26:56 -08:00
parent 12493d6431
commit cf5e0b3a1b
1 changed files with 10 additions and 8 deletions
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18
ArduCopter/system.pde
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@ -426,10 +426,11 @@ static void startup_ground(void)
static void set_mode(byte mode) static void set_mode(byte mode)
{ {
if(control_mode == mode){ //if(control_mode == mode){
// don't switch modes if we are already in the correct mode. // don't switch modes if we are already in the correct mode.
return; // Serial.print("Double mode\n");
} //return;
//}
// if we don't have GPS lock // if we don't have GPS lock
if(home_is_set == false){ if(home_is_set == false){
@ -458,6 +459,9 @@ static void set_mode(byte mode)
// do not auto_land if we are leaving RTL // do not auto_land if we are leaving RTL
auto_land_timer = 0; auto_land_timer = 0;
// if we change modes, we must clear landed flag
land_complete = false;
// debug to Serial terminal // debug to Serial terminal
Serial.println(flight_mode_strings[control_mode]); Serial.println(flight_mode_strings[control_mode]);
@ -531,12 +535,10 @@ static void set_mode(byte mode)
break; break;
case LAND: case LAND:
land_complete = false; yaw_mode = LOITER_YAW;
yaw_mode = YAW_HOLD; roll_pitch_mode = LOITER_RP;
roll_pitch_mode = ROLL_PITCH_AUTO;
throttle_mode = THROTTLE_AUTO; throttle_mode = THROTTLE_AUTO;
next_WP = current_loc; do_land();
next_WP.alt = 0;
break; break;
case RTL: case RTL: