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Copter: remove setting roll, pitch yaw modes in set_mode

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This commit is contained in:
Randy Mackay 2014-01-24 12:28:42 +09:00 committed by Andrew Tridgell
parent 1596d83d02
commit f3bcbb2ce4
2 changed files with 14 additions and 35 deletions
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7
ArduCopter/commands_logic.pde
View File

@ -577,13 +577,6 @@ static bool verify_RTL()
switch( rtl_state ) {
case RTL_STATE_START:
// set roll, pitch and yaw modes
set_roll_pitch_mode(RTL_RP);
set_throttle_mode(RTL_THR);
// set navigation mode
set_nav_mode(NAV_WP);
// if we are below rtl alt do initial climb
if( current_loc.alt < get_RTL_alt() ) {
// first stage of RTL is the initial climb so just hold current yaw

42
ArduCopter/system.pde
View File

@ -403,22 +403,15 @@ static bool set_mode(uint8_t mode)
break;
case AUTO:
// check we have a GPS and at least one mission command (note the home position is always command 0)
if ((GPS_ok() && g.command_total > 1) || ignore_checks) {
success = auto_init(ignore_checks);
}
success = auto_init(ignore_checks);
break;
case CIRCLE:
if (GPS_ok() || ignore_checks) {
success = circle_init(ignore_checks);
}
success = circle_init(ignore_checks);
break;
case LOITER:
if (GPS_ok() || ignore_checks) {
success = loiter_init(ignore_checks);
}
success = loiter_init(ignore_checks);
break;
case POSITION:
@ -431,13 +424,11 @@ static bool set_mode(uint8_t mode)
break;
case GUIDED:
if (GPS_ok() || ignore_checks) {
success = guided_init(ignore_checks);
//set_yaw_mode(get_wp_yaw_mode(false));
//set_roll_pitch_mode(GUIDED_RP);
//set_throttle_mode(GUIDED_THR);
//set_nav_mode(GUIDED_NAV);
}
success = guided_init(ignore_checks);
//set_yaw_mode(get_wp_yaw_mode(false));
//set_roll_pitch_mode(GUIDED_RP);
//set_throttle_mode(GUIDED_THR);
//set_nav_mode(GUIDED_NAV);
break;
case LAND:
@ -446,20 +437,15 @@ static bool set_mode(uint8_t mode)
break;
case RTL:
if (GPS_ok() || ignore_checks) {
success = rtl_init(ignore_checks);
do_RTL();
}
success = rtl_init(ignore_checks);
break;
case OF_LOITER:
if (g.optflow_enabled || ignore_checks) {
success = ofloiter_init(ignore_checks);
//set_yaw_mode(OF_LOITER_YAW);
//set_roll_pitch_mode(OF_LOITER_RP);
//set_throttle_mode(OF_LOITER_THR);
//set_nav_mode(OF_LOITER_NAV);
}
success = ofloiter_init(ignore_checks);
//set_yaw_mode(OF_LOITER_YAW);
//set_roll_pitch_mode(OF_LOITER_RP);
//set_throttle_mode(OF_LOITER_THR);
//set_nav_mode(OF_LOITER_NAV);
break;
case DRIFT: