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Copter: fix position ctrl init for guided takeof

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This commit is contained in:
Bill Geyer 2022-05-13 20:38:49 -04:00 committed by Randy Mackay
parent 1dafa2ba9c
commit d050df5629
3 changed files with 3 additions and 4 deletions
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2
ArduCopter/mode.cpp
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@ -541,6 +541,8 @@ void Mode::make_safe_ground_handling(bool force_throttle_unlimited)
break; break;
} }
pos_control->relax_velocity_controller_xy();
pos_control->update_xy_controller();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
pos_control->update_z_controller(); pos_control->update_z_controller();
// we may need to move this out // we may need to move this out

4
ArduCopter/mode_auto.cpp
View File

@ -892,7 +892,6 @@ void ModeAuto::wp_run()
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) { if (is_disarmed_or_landed()) {
make_safe_ground_handling(); make_safe_ground_handling();
wp_nav->wp_and_spline_init();
return; return;
} }
@ -989,7 +988,6 @@ void ModeAuto::loiter_run()
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) { if (is_disarmed_or_landed()) {
make_safe_ground_handling(); make_safe_ground_handling();
wp_nav->wp_and_spline_init();
return; return;
} }
@ -1015,7 +1013,7 @@ void ModeAuto::loiter_to_alt_run()
{ {
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (is_disarmed_or_landed() || !motors->get_interlock()) { if (is_disarmed_or_landed() || !motors->get_interlock()) {
zero_throttle_and_relax_ac(); make_safe_ground_handling();
return; return;
} }

1
ArduCopter/mode_brake.cpp
View File

@ -37,7 +37,6 @@ void ModeBrake::run()
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) { if (is_disarmed_or_landed()) {
make_safe_ground_handling(); make_safe_ground_handling();
pos_control->relax_velocity_controller_xy();
pos_control->relax_z_controller(0.0f); pos_control->relax_z_controller(0.0f);
return; return;
} }