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

Copter: resolve conflict between control_auto, control_rtl states

Browse Source
This commit is contained in:
Randy Mackay 2014-01-25 17:25:17 +09:00 committed by Andrew Tridgell
parent 055ce4e53e
commit b1449d59ee
1 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduCopter/control_auto.pde
View File

@ -13,9 +13,9 @@
*/ */
enum AutoMode { enum AutoMode {
TakeOff, Auto_TakeOff,
WP, Auto_WP,
Land Auto_Land
}; };
static AutoMode auto_mode; // controls which auto controller is run static AutoMode auto_mode; // controls which auto controller is run
@ -45,15 +45,15 @@ static void auto_run()
// call the correct auto controller // call the correct auto controller
switch (auto_mode) { switch (auto_mode) {
case TakeOff: case Auto_TakeOff:
auto_takeoff_run(); auto_takeoff_run();
break; break;
case WP: case Auto_WP:
auto_wp_run(); auto_wp_run();
break; break;
case Land: case Auto_Land:
auto_land_run(); auto_land_run();
break; break;
} }
@ -62,7 +62,7 @@ static void auto_run()
// auto_takeoff_start - initialises waypoint controller to implement take-off // auto_takeoff_start - initialises waypoint controller to implement take-off
static void auto_takeoff_start(float final_alt) static void auto_takeoff_start(float final_alt)
{ {
auto_mode = TakeOff; auto_mode = Auto_TakeOff;
// initialise wpnav destination // initialise wpnav destination
Vector3f target_pos = inertial_nav.get_position(); Vector3f target_pos = inertial_nav.get_position();
@ -112,7 +112,7 @@ static void auto_takeoff_run()
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination // auto_wp_start - initialises waypoint controller to implement flying to a particular destination
static void auto_wp_start(const Vector3f& destination) static void auto_wp_start(const Vector3f& destination)
{ {
auto_mode = WP; auto_mode = Auto_WP;
// initialise wpnav // initialise wpnav
wp_nav.set_wp_destination(destination); wp_nav.set_wp_destination(destination);
@ -181,7 +181,7 @@ static void auto_land_start()
// auto_land_start - initialises controller to implement a landing // auto_land_start - initialises controller to implement a landing
static void auto_land_start(const Vector3f& destination) static void auto_land_start(const Vector3f& destination)
{ {
auto_mode = Land; auto_mode = Auto_Land;
// initialise loiter target destination // initialise loiter target destination
wp_nav.set_loiter_target(destination); wp_nav.set_loiter_target(destination);