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Copter: landing check changes

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This commit is contained in:
Randy Mackay 2013-07-28 10:47:19 +09:00
parent dbc18ee900
commit 9a1a999fba
2 changed files with 33 additions and 16 deletions
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30
ArduCopter/ArduCopter.pde
View File

@ -1978,17 +1978,27 @@ void update_throttle_mode(void)
// alt hold plus pilot input of climb rate
pilot_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
// clear i term when we're taking off
if (pilot_climb_rate > 0 && ap.land_complete) {
set_throttle_takeoff();
// special handling if we have landed
if (ap.land_complete) {
if (pilot_climb_rate > 0) {
// indicate we are taking off
set_land_complete(false);
// clear i term when we're taking off
set_throttle_takeoff();
}else{
// move throttle to minimum to keep us on the ground
set_throttle_out(g.throttle_min, false);
}
}
if( sonar_alt_health >= SONAR_ALT_HEALTH_MAX ) {
// if sonar is ok, use surface tracking
get_throttle_surface_tracking(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}else{
// if no sonar fall back stabilize rate controller
get_throttle_rate_stabilized(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
// check land_complete flag again in case it was changed above
if (!ap.land_complete) {
if( sonar_alt_health >= SONAR_ALT_HEALTH_MAX ) {
// if sonar is ok, use surface tracking
get_throttle_surface_tracking(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}else{
// if no sonar fall back stabilize rate controller
get_throttle_rate_stabilized(pilot_climb_rate); // this function calls set_target_alt_for_reporting for us
}
}
}else{
// pilot's throttle must be at zero so keep motors off

19
ArduCopter/Attitude.pde
View File

@ -863,8 +863,14 @@ void throttle_accel_deactivate()
static void
set_throttle_takeoff()
{
if (g.pid_throttle_accel.get_integrator() < 0)
// set alt target
if (controller_desired_alt < current_loc.alt) {
controller_desired_alt = current_loc.alt + 20;
}
// clear i term from acceleration controller
if (g.pid_throttle_accel.get_integrator() < 0) {
g.pid_throttle_accel.reset_I();
}
}
// get_throttle_accel - accelerometer based throttle controller
@ -1178,12 +1184,13 @@ static bool update_land_detector()
{
// detect whether we have landed by watching for low climb rate and minimum throttle
if (abs(climb_rate) < 20 && motors.limit.throttle_lower) {
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
if( land_detector < LAND_DETECTOR_TRIGGER ) {
land_detector++;
}else{
if(!ap.land_complete) {
if (!ap.land_complete) {
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
if( land_detector < LAND_DETECTOR_TRIGGER) {
land_detector++;
}else{
set_land_complete(true);
land_detector = 0;
}
}
}else{