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Plane: prevent calling jump_to_landing_sequence() too often

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This commit is contained in:
Andrew Tridgell 2014-10-18 12:46:20 +11:00
parent 8d329f6b5a
commit f87da51b37
2 changed files with 15 additions and 2 deletions
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14
ArduPlane/ArduPlane.pde
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@ -546,6 +546,9 @@ static struct {
// in FBWA taildragger takeoff mode // in FBWA taildragger takeoff mode
bool fbwa_tdrag_takeoff_mode:1; bool fbwa_tdrag_takeoff_mode:1;
// have we checked for an auto-land?
bool checked_for_autoland:1;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters // Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
int32_t takeoff_altitude_cm; int32_t takeoff_altitude_cm;
@ -574,6 +577,7 @@ static struct {
next_wp_no_crosstrack : true, next_wp_no_crosstrack : true,
no_crosstrack : true, no_crosstrack : true,
fbwa_tdrag_takeoff_mode : false, fbwa_tdrag_takeoff_mode : false,
checked_for_autoland : false,
takeoff_altitude_cm : 0, takeoff_altitude_cm : 0,
takeoff_pitch_cd : 0, takeoff_pitch_cd : 0,
highest_airspeed : 0, highest_airspeed : 0,
@ -1421,12 +1425,18 @@ static void update_navigation()
case RTL: case RTL:
if (g.rtl_autoland && if (g.rtl_autoland &&
!auto_state.checked_for_autoland &&
nav_controller->reached_loiter_target() && nav_controller->reached_loiter_target() &&
labs(altitude_error_cm) < 1000) { labs(altitude_error_cm) < 1000) {
if (mission.jump_to_landing_sequence()) { // we've reached the RTL point, see if we have a landing sequence
gcs_send_text_P(PSTR("Starting auto landing")); if (!auto_state.checked_for_autoland &&
mission.jump_to_landing_sequence()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Starting auto landing"));
set_mode(AUTO); set_mode(AUTO);
} }
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
} }
// fall through to LOITER // fall through to LOITER

3
ArduPlane/system.pde
View File

@ -297,6 +297,9 @@ static void set_mode(enum FlightMode mode)
// don't cross-track when starting a mission // don't cross-track when starting a mission
auto_state.next_wp_no_crosstrack = true; auto_state.next_wp_no_crosstrack = true;
// reset landing check
auto_state.checked_for_autoland = false;
// zero locked course // zero locked course
steer_state.locked_course_err = 0; steer_state.locked_course_err = 0;