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Plane: added a value for RTL_AUTOLAND to disable arming check

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set RTL_AUTOLAND=3 to get go-around but not RTL DO_LAND_START usage
This commit is contained in:
Andrew Tridgell 2022-03-23 11:29:29 +11:00
parent 727e066fa9
commit f1f6c34132
6 changed files with 17 additions and 8 deletions
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2
ArduPlane/AP_Arming.cpp
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@ -368,7 +368,7 @@ bool AP_Arming_Plane::mission_checks(bool report)
{ {
// base checks // base checks
bool ret = AP_Arming::mission_checks(report); bool ret = AP_Arming::mission_checks(report);
if (plane.mission.get_landing_sequence_start() > 0 && plane.g.rtl_autoland.get() == 0) { if (plane.mission.get_landing_sequence_start() > 0 && plane.g.rtl_autoland == RtlAutoland::RTL_DISABLE) {
ret = false; ret = false;
check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START set and RTL_AUTOLAND disabled"); check_failed(ARMING_CHECK_MISSION, report, "DO_LAND_START set and RTL_AUTOLAND disabled");
} }

6
ArduPlane/Parameters.cpp
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@ -716,10 +716,10 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: RTL_AUTOLAND // @Param: RTL_AUTOLAND
// @DisplayName: RTL auto land // @DisplayName: RTL auto land
// @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. // @Description: Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).
// @Values: 0:Disable,1:Enable - go HOME then land,2:Enable - go directly to landing sequence // @Values: 0:Disable,1:Fly HOME then land,2:Go directly to landing sequence, 3:OnlyForGoAround
// @User: Standard // @User: Standard
GSCALAR(rtl_autoland, "RTL_AUTOLAND", 0), GSCALAR(rtl_autoland, "RTL_AUTOLAND", float(RtlAutoland::RTL_DISABLE)),
// @Param: CRASH_ACC_THRESH // @Param: CRASH_ACC_THRESH
// @DisplayName: Crash Deceleration Threshold // @DisplayName: Crash Deceleration Threshold

2
ArduPlane/Parameters.h
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@ -362,7 +362,7 @@ public:
AP_Int16 sysid_my_gcs; AP_Int16 sysid_my_gcs;
AP_Int8 telem_delay; AP_Int8 telem_delay;
AP_Int8 rtl_autoland; AP_Enum<RtlAutoland> rtl_autoland;
AP_Int8 crash_accel_threshold; AP_Int8 crash_accel_threshold;

9
ArduPlane/defines.h
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@ -50,6 +50,15 @@ enum class StickMixing {
VTOL_YAW = 3, VTOL_YAW = 3,
}; };
// values for RTL_AUTOLAND
enum class RtlAutoland {
RTL_DISABLE = 0,
RTL_THEN_DO_LAND_START = 1,
RTL_IMMEDIATE_DO_LAND_START = 2,
NO_RTL_GO_AROUND = 3,
};
enum ChannelMixing { enum ChannelMixing {
MIXING_DISABLED = 0, MIXING_DISABLED = 0,
MIXING_UPUP = 1, MIXING_UPUP = 1,

2
ArduPlane/events.cpp
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@ -261,7 +261,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
#endif #endif
if (!already_landing) { if (!already_landing) {
// 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()) { if (g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START && plane.mission.is_best_land_sequence()) {
// continue mission as it will reach a landing in less distance // continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true); plane.mission.set_in_landing_sequence_flag(true);
break; break;

4
ArduPlane/mode_rtl.cpp
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@ -75,7 +75,7 @@ void ModeRTL::navigate()
} }
#endif #endif
if (plane.g.rtl_autoland == 1 && if (plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START &&
!plane.auto_state.checked_for_autoland && !plane.auto_state.checked_for_autoland &&
plane.reached_loiter_target() && plane.reached_loiter_target() &&
labs(plane.altitude_error_cm) < 1000) { labs(plane.altitude_error_cm) < 1000) {
@ -90,7 +90,7 @@ void ModeRTL::navigate()
// on every loop // on every loop
plane.auto_state.checked_for_autoland = true; plane.auto_state.checked_for_autoland = true;
} }
else if (plane.g.rtl_autoland == 2 && else if (plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START &&
!plane.auto_state.checked_for_autoland) { !plane.auto_state.checked_for_autoland) {
// Go directly to the landing sequence // Go directly to the landing sequence
if (plane.mission.jump_to_landing_sequence()) { if (plane.mission.jump_to_landing_sequence()) {