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Copter: throw static variables moved to global scope

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This commit is contained in:
Randy Mackay 2016-03-02 21:19:23 +09:00
parent 24cfbeebd0
commit dca89e7fe7
2 changed files with 6 additions and 6 deletions
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2
ArduCopter/Copter.h
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@ -378,6 +378,8 @@ private:
// Throw
bool throw_early_exit_interlock = true; // value of the throttle interlock that must be restored when exiting throw mode early
bool throw_flight_commenced = false; // true when the throw has been detected and the motors and control loops are running
uint32_t throw_free_fall_start_ms = 0; // system time free fall was detected
float throw_free_fall_start_velz = 0.0f;// vertical velocity when free fall was detected
// Battery Sensors
AP_BattMonitor battery;

10
ArduCopter/control_throw.cpp
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@ -203,15 +203,13 @@ bool Copter::throw_detected()
bool possible_throw_detected = (free_falling || high_speed) && gaining_height && no_throw_action;
// Record time and vertical velocity when we detect the possible throw
static uint32_t free_fall_start_msec = 0;
static float free_fall_start_velz;
if (possible_throw_detected && ((AP_HAL::millis() - free_fall_start_msec) > 500)) {
free_fall_start_msec = AP_HAL::millis();
free_fall_start_velz = inertial_nav.get_velocity().z;
if (possible_throw_detected && ((AP_HAL::millis() - throw_free_fall_start_ms) > 500)) {
throw_free_fall_start_ms = AP_HAL::millis();
throw_free_fall_start_velz = inertial_nav.get_velocity().z;
}
// Once a possible throw condition has been detected, we check for 2.5 m/s of downwards velocity change in less than 0.5 seconds to confirm
bool throw_condition_confirmed = ((AP_HAL::millis() - free_fall_start_msec < 500) && ((inertial_nav.get_velocity().z - free_fall_start_velz) < -250.0f));
bool throw_condition_confirmed = ((AP_HAL::millis() - throw_free_fall_start_ms < 500) && ((inertial_nav.get_velocity().z - throw_free_fall_start_velz) < -250.0f));
// start motors and enter the control mode if we are in continuous freefall
if (throw_condition_confirmed) {