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Plane: Missing Loiter Init on accel

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Leonard Hall 2018-09-19 12:20:51 +09:30 committed by Randy Mackay
parent 1b5b46dab5
commit 13c27e0eb8
1 changed files with 5 additions and 0 deletions
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5
ArduPlane/quadplane.cpp
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@ -851,6 +851,7 @@ void QuadPlane::control_hover(void)
void QuadPlane::init_loiter(void)
{
// initialise loiter
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
// initialize vertical speed and acceleration
@ -961,6 +962,7 @@ void QuadPlane::control_loiter()
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0);
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
return;
}
@ -973,6 +975,7 @@ void QuadPlane::control_loiter()
const uint32_t now = AP_HAL::millis();
if (now - last_loiter_ms > 500) {
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
}
last_loiter_ms = now;
@ -1855,6 +1858,7 @@ void QuadPlane::vtol_position_controller(void)
if (plane.auto_state.wp_proportion >= 1 ||
plane.auto_state.wp_distance < 5) {
poscontrol.state = QPOS_POSITION2;
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
gcs().send_text(MAV_SEVERITY_INFO,"VTOL position2 started v=%.1f d=%.1f",
(double)ahrs.groundspeed(), (double)plane.auto_state.wp_distance);
@ -2131,6 +2135,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
throttle_wait = false;
// set target to current position
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
// initialize vertical speed and acceleration