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Plane: Respect frame type on VTOL_TAKEOFF commands 

allow missioncommands to fail to start
This commit is contained in:
Michael du Breuil 2018-08-13 13:16:45 -07:00 committed by Andrew Tridgell
parent b5d722245a
commit f9e56f9d12
3 changed files with 15 additions and 3 deletions
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4
ArduPlane/commands_logic.cpp
View File

@ -244,6 +244,10 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
}
break;
#endif
default:
// unable to use the command, allow the vehicle to try the next command
return false;
}
return true;

13
ArduPlane/quadplane.cpp
View File

@ -327,8 +327,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: OPTIONS
// @DisplayName: quadplane options
// @Description: This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land.
// @Bitmask: 0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand
// @Description: This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land. If respect takeoff frame is not set the vehicle will interpret all takeoff waypoints as an altitude above the corrent position.
// @Bitmask: 0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand,3:Respect takeoff frame types
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
@ -2096,7 +2096,14 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
}
plane.set_next_WP(cmd.content.location);
plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
if (options & OPTION_RESPECT_TAKEOFF_FRAME) {
if (plane.current_loc.alt >= plane.next_WP_loc.alt) {
// we are above the takeoff already, no need to do anything
return false;
}
} else {
plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
}
throttle_wait = false;
// set target to current position

1
ArduPlane/quadplane.h
View File

@ -450,6 +450,7 @@ private:
OPTION_LEVEL_TRANSITION=(1<<0),
OPTION_ALLOW_FW_TAKEOFF=(1<<1),
OPTION_ALLOW_FW_LAND=(1<<2),
OPTION_RESPECT_TAKEOFF_FRAME=(1<<3),
};
/*