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Plane: added last_flying_ms to auto_state

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used to find out how long it is since we were last flying
This commit is contained in:
Andrew Tridgell 2015-03-17 10:00:44 +11:00
parent 18b277a9d2
commit 90bb97a144
1 changed files with 15 additions and 1 deletions
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16
ArduPlane/ArduPlane.pde
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@ -547,6 +547,9 @@ static struct {
// proportion to next waypoint // proportion to next waypoint
float wp_proportion; float wp_proportion;
// last time is_flying() returned true in milliseconds
uint32_t last_flying_ms;
} auto_state = { } auto_state = {
takeoff_complete : true, takeoff_complete : true,
land_complete : false, land_complete : false,
@ -562,7 +565,10 @@ static struct {
initial_pitch_cd : 0, initial_pitch_cd : 0,
next_turn_angle : 90.0f, next_turn_angle : 90.0f,
land_sink_rate : 0, land_sink_rate : 0,
takeoff_speed_time_ms : 0 takeoff_speed_time_ms : 0,
wp_distance : 0,
wp_proportion : 0,
last_flying_ms : 0
}; };
// true if we are in an auto-throttle mode, which means // true if we are in an auto-throttle mode, which means
@ -1567,6 +1573,14 @@ static void determine_is_flying(void)
// low-pass the result. // low-pass the result.
isFlyingProbability = (0.6f * isFlyingProbability) + (0.4f * (float)isFlyingBool); isFlyingProbability = (0.6f * isFlyingProbability) + (0.4f * (float)isFlyingBool);
/*
update last_flying_ms so we always know how long we have not
been flying for. This helps for crash detection and auto-disarm
*/
if (is_flying()) {
auto_state.last_flying_ms = hal.scheduler->millis();
}
} }
/* /*