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Copter: add RTL to front of RTLState enum values

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This removes the confusing Land enum value which also appears in the
flight mode enum
This commit is contained in:
Randy Mackay 2015-05-18 10:37:32 +09:00
parent c600c1a746
commit 09a98b89b7
5 changed files with 24 additions and 24 deletions
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2
ArduCopter/commands_logic.pde
View File

@ -712,7 +712,7 @@ extern bool rtl_state_complete;
// returns true with RTL has completed successfully // returns true with RTL has completed successfully
static bool verify_RTL() static bool verify_RTL()
{ {
return (rtl_state_complete && (rtl_state == FinalDescent || rtl_state == Land)); return (rtl_state_complete && (rtl_state == RTL_FinalDescent || rtl_state == RTL_Land));
} }
// verify_spline_wp - check if we have reached the next way point using spline // verify_spline_wp - check if we have reached the next way point using spline

30
ArduCopter/control_rtl.pde
View File

@ -25,23 +25,23 @@ static void rtl_run()
// check if we need to move to next state // check if we need to move to next state
if (rtl_state_complete) { if (rtl_state_complete) {
switch (rtl_state) { switch (rtl_state) {
case InitialClimb: case RTL_InitialClimb:
rtl_return_start(); rtl_return_start();
break; break;
case ReturnHome: case RTL_ReturnHome:
rtl_loiterathome_start(); rtl_loiterathome_start();
break; break;
case LoiterAtHome: case RTL_LoiterAtHome:
if (g.rtl_alt_final > 0 && !failsafe.radio) { if (g.rtl_alt_final > 0 && !failsafe.radio) {
rtl_descent_start(); rtl_descent_start();
}else{ }else{
rtl_land_start(); rtl_land_start();
} }
break; break;
case FinalDescent: case RTL_FinalDescent:
// do nothing // do nothing
break; break;
case Land: case RTL_Land:
// do nothing - rtl_land_run will take care of disarming motors // do nothing - rtl_land_run will take care of disarming motors
break; break;
} }
@ -50,23 +50,23 @@ static void rtl_run()
// call the correct run function // call the correct run function
switch (rtl_state) { switch (rtl_state) {
case InitialClimb: case RTL_InitialClimb:
rtl_climb_return_run(); rtl_climb_return_run();
break; break;
case ReturnHome: case RTL_ReturnHome:
rtl_climb_return_run(); rtl_climb_return_run();
break; break;
case LoiterAtHome: case RTL_LoiterAtHome:
rtl_loiterathome_run(); rtl_loiterathome_run();
break; break;
case FinalDescent: case RTL_FinalDescent:
rtl_descent_run(); rtl_descent_run();
break; break;
case Land: case RTL_Land:
rtl_land_run(); rtl_land_run();
break; break;
} }
@ -75,7 +75,7 @@ static void rtl_run()
// rtl_climb_start - initialise climb to RTL altitude // rtl_climb_start - initialise climb to RTL altitude
static void rtl_climb_start() static void rtl_climb_start()
{ {
rtl_state = InitialClimb; rtl_state = RTL_InitialClimb;
rtl_state_complete = false; rtl_state_complete = false;
// initialise waypoint and spline controller // initialise waypoint and spline controller
@ -106,7 +106,7 @@ static void rtl_climb_start()
// rtl_return_start - initialise return to home // rtl_return_start - initialise return to home
static void rtl_return_start() static void rtl_return_start()
{ {
rtl_state = ReturnHome; rtl_state = RTL_ReturnHome;
rtl_state_complete = false; rtl_state_complete = false;
// set target to above home/rally point // set target to above home/rally point
@ -171,7 +171,7 @@ static void rtl_climb_return_run()
// rtl_return_start - initialise return to home // rtl_return_start - initialise return to home
static void rtl_loiterathome_start() static void rtl_loiterathome_start()
{ {
rtl_state = LoiterAtHome; rtl_state = RTL_LoiterAtHome;
rtl_state_complete = false; rtl_state_complete = false;
rtl_loiter_start_time = millis(); rtl_loiter_start_time = millis();
@ -237,7 +237,7 @@ static void rtl_loiterathome_run()
// rtl_descent_start - initialise descent to final alt // rtl_descent_start - initialise descent to final alt
static void rtl_descent_start() static void rtl_descent_start()
{ {
rtl_state = FinalDescent; rtl_state = RTL_FinalDescent;
rtl_state_complete = false; rtl_state_complete = false;
// Set wp navigation target to above home // Set wp navigation target to above home
@ -300,7 +300,7 @@ static void rtl_descent_run()
// rtl_loiterathome_start - initialise controllers to loiter over home // rtl_loiterathome_start - initialise controllers to loiter over home
static void rtl_land_start() static void rtl_land_start()
{ {
rtl_state = Land; rtl_state = RTL_Land;
rtl_state_complete = false; rtl_state_complete = false;
// Set wp navigation target to above home // Set wp navigation target to above home

10
ArduCopter/defines.h
View File

@ -195,11 +195,11 @@ enum GuidedMode {
// RTL states // RTL states
enum RTLState { enum RTLState {
InitialClimb, RTL_InitialClimb,
ReturnHome, RTL_ReturnHome,
LoiterAtHome, RTL_LoiterAtHome,
FinalDescent, RTL_FinalDescent,
Land RTL_Land
}; };
// Flip states // Flip states

4
ArduCopter/heli.pde
View File

@ -41,7 +41,7 @@ static int16_t get_pilot_desired_collective(int16_t control_in)
static void check_dynamic_flight(void) static void check_dynamic_flight(void)
{ {
if (!motors.armed() || !motors.motor_runup_complete() || if (!motors.armed() || !motors.motor_runup_complete() ||
control_mode == LAND || (control_mode==RTL && rtl_state == Land) || (control_mode == AUTO && auto_mode == Auto_Land)) { control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)) {
heli_dynamic_flight_counter = 0; heli_dynamic_flight_counter = 0;
heli_flags.dynamic_flight = false; heli_flags.dynamic_flight = false;
return; return;
@ -109,7 +109,7 @@ static void heli_update_landing_swash()
break; break;
case RTL: case RTL:
if (rtl_state == Land) { if (rtl_state == RTL_Land) {
motors.set_collective_for_landing(true); motors.set_collective_for_landing(true);
}else{ }else{
motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed); motors.set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);

2
ArduCopter/landing_gear.pde
View File

@ -11,7 +11,7 @@ static void landinggear_update(){
// if we are doing an automatic landing procedure, force the landing gear to deploy. // if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down? // To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (control_mode == LAND || (control_mode==RTL && rtl_state == Land) || (control_mode == AUTO && auto_mode == Auto_Land)){ if (control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)){
landinggear.force_deploy(true); landinggear.force_deploy(true);
} }