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Plane: Support added for DO_LAND_START FS fix

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Gone4Dirt 2020-02-17 23:45:52 +00:00 committed by Peter Barker
parent 44718cd00f
commit e2f3cb7ee8
1 changed files with 10 additions and 0 deletions
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10
ArduPlane/events.cpp
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@ -164,6 +164,11 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
case Failsafe_Action_Land: case Failsafe_Action_Land:
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland) { if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland) {
// never stop a landing if we were already committed // never stop a landing if we were already committed
if (plane.mission.is_best_land_sequence()) {
// continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true);
break;
}
if (plane.mission.jump_to_landing_sequence()) { if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE); plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE);
break; break;
@ -173,6 +178,11 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
case Failsafe_Action_RTL: case Failsafe_Action_RTL:
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland && !quadplane.in_vtol_land_sequence()) { if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND && control_mode != &mode_qland && !quadplane.in_vtol_land_sequence()) {
// never stop a landing if we were already committed // never stop a landing if we were already committed
if (g.rtl_autoland == 2 && plane.mission.is_best_land_sequence()) {
// continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true);
break;
}
set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE); set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE);
aparm.throttle_cruise.load(); aparm.throttle_cruise.load();
} }