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Copter: move auto's take-off check to beginning of auto_init

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This ensures there are no side-effects of a failed switch to AUTO like stopping the vehicle or affecting the yaw mode
This commit is contained in:
Randy Mackay 2016-05-19 19:34:07 +09:00
parent 54731a139f
commit a9d16f3373
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/control_auto.cpp
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@ -25,6 +25,12 @@ bool Copter::auto_init(bool ignore_checks)
if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
auto_mode = Auto_Loiter;
// reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce change of flips)
if (motors.armed() && ap.land_complete && !mission.starts_with_takeoff_cmd()) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd");
return false;
}
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (auto_yaw_mode == AUTO_YAW_ROI) {
@ -37,10 +43,6 @@ bool Copter::auto_init(bool ignore_checks)
// clear guided limits
guided_limit_clear();
// Deny switching to auto mode if land is completed and motors are armed but the next command in the mission is lateral flying
if (motors.armed() && ap.land_complete && !mission.check_takeoff_cmd()) {
return false;
}
// start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume();
return true;