mirror of https://github.com/ArduPilot/ardupilot
Copter: guided mode takeoff failure leaves submode unchanged
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@ -112,8 +112,6 @@ bool ModeGuided::allows_arming(AP_Arming::Method method) const
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// takeoff_alt_cm is interpreted as alt-above-home (in cm) or alt-above-terrain if a rangefinder is available
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bool ModeGuided::do_user_takeoff_start(float takeoff_alt_cm)
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{
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guided_mode = SubMode::TakeOff;
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// calculate target altitude and frame (either alt-above-ekf-origin or alt-above-terrain)
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int32_t alt_target_cm;
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bool alt_target_terrain = false;
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@ -139,6 +137,8 @@ bool ModeGuided::do_user_takeoff_start(float takeoff_alt_cm)
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}
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}
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guided_mode = SubMode::TakeOff;
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// initialise yaw
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auto_yaw.set_mode(AUTO_YAW_HOLD);
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@ -166,9 +166,10 @@ void ModeGuided::wp_control_start()
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// initialise wpnav to stopping point
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Vector3f stopping_point;
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wp_nav->get_wp_stopping_point(stopping_point);
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// no need to check return status because terrain data is not used
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wp_nav->set_wp_destination(stopping_point, false);
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if (!wp_nav->set_wp_destination(stopping_point, false)) {
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// this should never happen because terrain data is not used
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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}
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// initialise yaw
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auto_yaw.set_mode_to_default(false);
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