aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: change make_safe_shut_down to make_safe_spool_down

Browse Source
This commit is contained in:
bnsgeyer 2019-03-14 19:45:00 -04:00 committed by Randy Mackay
parent f96da56ad6
commit 94738c3f86
9 changed files with 24 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/mode.cpp
View File

@ -407,10 +407,10 @@ void Copter::Mode::zero_throttle_and_hold_attitude()
attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
}
void Copter::Mode::make_safe_shut_down()
void Copter::Mode::make_safe_spool_down()
{
// command aircraft to initiate the shutdown process
motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
switch (motors->get_spool_mode()) {
case AP_Motors::SHUT_DOWN:

2
ArduCopter/mode.h
View File

@ -117,7 +117,7 @@ protected:
// helper functions
void zero_throttle_and_relax_ac(bool spool_up = false);
void zero_throttle_and_hold_attitude();
void make_safe_shut_down();
void make_safe_spool_down();
// functions to control landing
// in modes that support landing

16
ArduCopter/mode_auto.cpp
View File

@ -741,7 +741,7 @@ void Copter::ModeAuto::wp_run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
wp_nav->wp_and_spline_init();
return;
}
@ -771,7 +771,7 @@ void Copter::ModeAuto::spline_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
wp_nav->wp_and_spline_init();
return;
}
@ -809,14 +809,10 @@ void Copter::ModeAuto::spline_run()
// called by auto_run at 100hz or more
void Copter::ModeAuto::land_run()
{
// disarm when the landing detector says we've landed
if (ap.land_complete && motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
copter.init_disarm_motors();
}
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
loiter_nav->init_target();
return;
}
@ -871,7 +867,7 @@ void Copter::ModeAuto::loiter_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
wp_nav->wp_and_spline_init();
return;
}
@ -1731,7 +1727,9 @@ bool Copter::ModeAuto::verify_loiter_to_alt()
// returns true with RTL has completed successfully
bool Copter::ModeAuto::verify_RTL()
{
return (copter.mode_rtl.state_complete() && (copter.mode_rtl.state() == RTL_FinalDescent || copter.mode_rtl.state() == RTL_Land));
return (copter.mode_rtl.state_complete() &&
(copter.mode_rtl.state() == RTL_FinalDescent || copter.mode_rtl.state() == RTL_Land) &&
(motors->get_spool_mode() == AP_Motors::GROUND_IDLE));
}
/********************************************************************************/

2
ArduCopter/mode_brake.cpp
View File

@ -33,7 +33,7 @@ void Copter::ModeBrake::run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
return;
}

2
ArduCopter/mode_circle.cpp
View File

@ -49,7 +49,7 @@ void Copter::ModeCircle::run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}

2
ArduCopter/mode_follow.cpp
View File

@ -28,7 +28,7 @@ void Copter::ModeFollow::run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}

10
ArduCopter/mode_guided.cpp
View File

@ -379,7 +379,7 @@ void Copter::Mode::auto_takeoff_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed) {
make_safe_shut_down();
make_safe_spool_down();
wp_nav->shift_wp_origin_to_current_pos();
return;
}
@ -427,7 +427,7 @@ void Copter::ModeGuided::pos_control_run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}
@ -469,7 +469,7 @@ void Copter::ModeGuided::vel_control_run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}
@ -522,7 +522,7 @@ void Copter::ModeGuided::posvel_control_run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}
@ -606,7 +606,7 @@ void Copter::ModeGuided::angle_control_run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || (ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) {
make_safe_shut_down();
make_safe_spool_down();
return;
}

4
ArduCopter/mode_land.cpp
View File

@ -60,7 +60,7 @@ void Copter::ModeLand::gps_run()
// Land State Machine Determination
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
loiter_nav->init_target();
} else {
// set motors to full range
@ -111,7 +111,7 @@ void Copter::ModeLand::nogps_run()
// Land State Machine Determination
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
} else {
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

8
ArduCopter/mode_rtl.cpp
View File

@ -129,7 +129,7 @@ void Copter::ModeRTL::climb_return_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}
@ -186,7 +186,7 @@ void Copter::ModeRTL::loiterathome_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}
@ -258,7 +258,7 @@ void Copter::ModeRTL::descent_run()
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
return;
}
@ -363,7 +363,7 @@ void Copter::ModeRTL::land_run(bool disarm_on_land)
// if not armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
make_safe_shut_down();
make_safe_spool_down();
loiter_nav->init_target();
return;
}