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Copter: Guided: move to zero velocity after takeoff

This commit is contained in:
Leonard Hall 2021-07-10 13:36:59 +09:30 committed by Randy Mackay
parent 0ad493fdf7
commit f5a15dd85b
1 changed files with 4 additions and 5 deletions
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9
ArduCopter/mode_guided.cpp
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@ -457,13 +457,13 @@ bool ModeGuided::set_attitude_target_provides_thrust() const
}
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
bool ModeGuided:: stabilizing_pos_xy() const
bool ModeGuided::stabilizing_pos_xy() const
{
return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizePositionXY)) != 0);
}
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
bool ModeGuided:: stabilizing_vel_xy() const
bool ModeGuided::stabilizing_vel_xy() const
{
return !((copter.g2.guided_options.get() & uint32_t(Options::DoNotStabilizeVelocityXY)) != 0);
}
@ -513,9 +513,8 @@ void ModeGuided::takeoff_run()
copter.landinggear.retract_after_takeoff();
#endif
// switch to position control mode but maintain current target
const Vector3f target = pos_control->get_pos_target_cm().tofloat();
set_destination(target, false, 0, false, 0, false, wp_nav->origin_and_destination_are_terrain_alt());
// change to velocity control after take off.
init(true);
}
}