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Copter: add optflow_position_ok and use for loiter

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This allows entering Loiter flight mode with only optical flow based
position
This commit is contained in:
Randy Mackay 2015-01-02 20:45:10 +09:00
parent 199dc3454d
commit fd0b82f669
2 changed files with 17 additions and 1 deletions
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2
ArduCopter/control_loiter.pde
View File

@ -7,7 +7,7 @@
// loiter_init - initialise loiter controller // loiter_init - initialise loiter controller
static bool loiter_init(bool ignore_checks) static bool loiter_init(bool ignore_checks)
{ {
if (position_ok() || ignore_checks) { if (position_ok() || optflow_position_ok() || ignore_checks) {
// set target to current position // set target to current position
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();

16
ArduCopter/system.pde
View File

@ -349,6 +349,22 @@ static bool position_ok()
} }
} }
// optflow_position_ok - returns true if optical flow based position estimate is ok
static bool optflow_position_ok()
{
#if OPTFLOW != ENABLED
return false;
#else
// return immediately if optflow is not enabled
if (!optflow.enabled()) {
return false;
}
// get filter status from inertial nav or EKF
return inertial_nav.get_filter_status().flags.horiz_pos_rel;
#endif
}
// update_auto_armed - update status of auto_armed flag // update_auto_armed - update status of auto_armed flag
static void update_auto_armed() static void update_auto_armed()
{ {