Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: guide mode fix for takeoff in attitude control submode

Browse Source 
It was not possible to takeoff when thrust was provided instead of climb rate (which is used depends upon DEV_OPTIONS)
This commit is contained in:
Randy Mackay 2020-10-19 14:49:32 +09:00
parent 7a90ed4bb5
commit ea7f850738
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/mode_guided.cpp
View File

@ -613,12 +613,13 @@ void ModeGuided::angle_control_run()
} }
// interpret positive climb rate or thrust as triggering take-off // interpret positive climb rate or thrust as triggering take-off
if (motors->armed() && is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms)) { const bool positive_thrust_or_climbrate = is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms);
if (motors->armed() && positive_thrust_or_climbrate) {
copter.set_auto_armed(true); copter.set_auto_armed(true);
} }
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) { if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && !positive_thrust_or_climbrate)) {
make_safe_spool_down(); make_safe_spool_down();
return; return;
} }