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Copter: Remove RTL_ parameters if RTL flight mode is disabled

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Dr.-Ing. Amilcar Do Carmo Lucas 2018-03-14 21:17:30 +01:00 committed by Randy Mackay
parent 21c33b60db
commit db90ee6841
1 changed files with 29 additions and 27 deletions
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56
ArduCopter/Parameters.cpp
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@ -113,6 +113,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Bitmask: 0:Roll,1:Pitch,2:Yaw // @Bitmask: 0:Roll,1:Pitch,2:Yaw
GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0), GSCALAR(gcs_pid_mask, "GCS_PID_MASK", 0),
#if MODE_RTL_ENABLED == ENABLED
// @Param: RTL_ALT // @Param: RTL_ALT
// @DisplayName: RTL Altitude // @DisplayName: RTL Altitude
// @Description: The minimum relative altitude the model will move to before Returning to Launch. Set to zero to return at current altitude. // @Description: The minimum relative altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.
@ -140,6 +141,34 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(rtl_speed_cms, "RTL_SPEED", 0), GSCALAR(rtl_speed_cms, "RTL_SPEED", 0),
// @Param: RTL_ALT_FINAL
// @DisplayName: RTL Final Altitude
// @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
// @Units: cm
// @Range: -1 1000
// @Increment: 1
// @User: Standard
GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL),
// @Param: RTL_CLIMB_MIN
// @DisplayName: RTL minimum climb
// @Description: The vehicle will climb this many cm during the initial climb portion of the RTL
// @Units: cm
// @Range: 0 3000
// @Increment: 10
// @User: Standard
GSCALAR(rtl_climb_min, "RTL_CLIMB_MIN", RTL_CLIMB_MIN_DEFAULT),
// @Param: RTL_LOIT_TIME
// @DisplayName: RTL loiter time
// @Description: Time (in milliseconds) to loiter above home before beginning final descent
// @Units: ms
// @Range: 0 60000
// @Increment: 1000
// @User: Standard
GSCALAR(rtl_loiter_time, "RTL_LOIT_TIME", RTL_LOITER_TIME),
#endif
// @Param: RNGFND_GAIN // @Param: RNGFND_GAIN
// @DisplayName: Rangefinder gain // @DisplayName: Rangefinder gain
// @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
@ -199,24 +228,6 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(super_simple, "SUPER_SIMPLE", 0), GSCALAR(super_simple, "SUPER_SIMPLE", 0),
// @Param: RTL_ALT_FINAL
// @DisplayName: RTL Final Altitude
// @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
// @Units: cm
// @Range: -1 1000
// @Increment: 1
// @User: Standard
GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL),
// @Param: RTL_CLIMB_MIN
// @DisplayName: RTL minimum climb
// @Description: The vehicle will climb this many cm during the initial climb portion of the RTL
// @Units: cm
// @Range: 0 3000
// @Increment: 10
// @User: Standard
GSCALAR(rtl_climb_min, "RTL_CLIMB_MIN", RTL_CLIMB_MIN_DEFAULT),
// @Param: WP_YAW_BEHAVIOR // @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions // @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL // @Description: Determines how the autopilot controls the yaw during missions and RTL
@ -224,15 +235,6 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT), GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
// @Param: RTL_LOIT_TIME
// @DisplayName: RTL loiter time
// @Description: Time (in milliseconds) to loiter above home before beginning final descent
// @Units: ms
// @Range: 0 60000
// @Increment: 1000
// @User: Standard
GSCALAR(rtl_loiter_time, "RTL_LOIT_TIME", RTL_LOITER_TIME),
// @Param: LAND_SPEED // @Param: LAND_SPEED
// @DisplayName: Land speed // @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s // @Description: The descent speed for the final stage of landing in cm/s