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Copter: move check for high-throttle on mode change up

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This commit is contained in:
Peter Barker 2019-03-06 16:31:05 +11:00 committed by Peter Barker
parent 34d9ce27af
commit d95160b33c
4 changed files with 19 additions and 26 deletions
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16
ArduCopter/mode.cpp
View File

@ -200,6 +200,22 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
} }
#endif #endif
#if FRAME_CONFIG != HELI_FRAME
// ensure vehicle doesn't leap off the ground if a user switches
// into a manual throttle mode from a non-manual-throttle mode
// (e.g. user arms in guided, raises throttle to 1300 (not enough to
// trigger auto takeoff), then switches into manual):
if (!ignore_checks &&
ap.land_complete &&
new_flightmode->has_manual_throttle() &&
!copter.flightmode->has_manual_throttle() &&
new_flightmode->get_pilot_desired_throttle() > copter.get_non_takeoff_throttle()) {
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: throttle too high");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
#endif
if (!ignore_checks && if (!ignore_checks &&
new_flightmode->requires_GPS() && new_flightmode->requires_GPS() &&
!copter.position_ok()) { !copter.position_ok()) {

6
ArduCopter/mode.h
View File

@ -79,7 +79,9 @@ public:
protected: protected:
virtual bool init(bool ignore_checks) = 0; virtual bool init(bool ignore_checks) {
return true;
}
virtual void run() = 0; virtual void run() = 0;
virtual bool is_autopilot() const { return false; } virtual bool is_autopilot() const { return false; }
@ -210,7 +212,6 @@ public:
// inherit constructor // inherit constructor
using Copter::Mode::Mode; using Copter::Mode::Mode;
virtual bool init(bool ignore_checks) override;
virtual void run() override; virtual void run() override;
bool is_autopilot() const override { return false; } bool is_autopilot() const override { return false; }
@ -1040,7 +1041,6 @@ public:
// inherit constructor // inherit constructor
using Copter::Mode::Mode; using Copter::Mode::Mode;
virtual bool init(bool ignore_checks) override;
virtual void run() override; virtual void run() override;
bool requires_GPS() const override { return false; } bool requires_GPS() const override { return false; }

11
ArduCopter/mode_acro.cpp
View File

@ -8,17 +8,6 @@
* Init and run calls for acro flight mode * Init and run calls for acro flight mode
*/ */
bool Copter::ModeAcro::init(bool ignore_checks)
{
// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
if (motors->armed() && ap.land_complete && !copter.flightmode->has_manual_throttle() &&
(get_pilot_desired_throttle() > copter.get_non_takeoff_throttle())) {
return false;
}
return true;
}
void Copter::ModeAcro::run() void Copter::ModeAcro::run()
{ {
float target_roll, target_pitch, target_yaw; float target_roll, target_pitch, target_yaw;

12
ArduCopter/mode_stabilize.cpp
View File

@ -4,18 +4,6 @@
* Init and run calls for stabilize flight mode * Init and run calls for stabilize flight mode
*/ */
// stabilize_init - initialise stabilize controller
bool Copter::ModeStabilize::init(bool ignore_checks)
{
// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
if (motors->armed() && ap.land_complete && !copter.flightmode->has_manual_throttle() &&
(get_pilot_desired_throttle() > get_non_takeoff_throttle())) {
return false;
}
return true;
}
// stabilize_run - runs the main stabilize controller // stabilize_run - runs the main stabilize controller
// should be called at 100hz or more // should be called at 100hz or more
void Copter::ModeStabilize::run() void Copter::ModeStabilize::run()