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Copter: update brake-timeout to work with master

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We added mode-change reasons since PR was submitted
This commit is contained in:
Randy Mackay 2016-05-13 11:39:37 +09:00
parent 0a2336a5a8
commit cfb2a6b2f9
2 changed files with 5 additions and 5 deletions
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7
ArduCopter/control_brake.cpp
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@ -78,10 +78,9 @@ void Copter::brake_run()
pos_control.set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);
pos_control.update_z_controller();
if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms)
{
if(!set_mode(LOITER)) {
set_mode(ALT_HOLD);
if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms) {
if (!set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
}
}
}

3
ArduCopter/defines.h
View File

@ -118,7 +118,8 @@ enum mode_reason_t {
MODE_REASON_MISSION_END,
MODE_REASON_THROTTLE_LAND_ESCAPE,
MODE_REASON_FENCE_BREACH,
MODE_REASON_TERRAIN_FAILSAFE
MODE_REASON_TERRAIN_FAILSAFE,
MODE_REASON_BRAKE_TIMEOUT
};
// Tuning enumeration