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Copter: Beeping when first reaching waypoint while in holding there

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apinxiko 2018-06-04 12:42:43 +09:00 committed by Randy Mackay
parent 5df4b9f6fd
commit e440583a7c
1 changed files with 19 additions and 24 deletions
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41
ArduCopter/mode_auto.cpp
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@ -565,12 +565,12 @@ void Copter::ModeAuto::exit_mission()
// play a tone
AP_Notify::events.mission_complete = 1;
// if we are not on the ground switch to loiter or land
if(!ap.land_complete) {
if (!ap.land_complete) {
// try to enter loiter but if that fails land
if(!loiter_start()) {
if (!loiter_start()) {
set_mode(LAND, MODE_REASON_MISSION_END);
}
}else{
} else {
// if we've landed it's safe to disarm
copter.init_disarm_motors();
}
@ -645,7 +645,7 @@ Return true if we do not recognize the command so that we move on to the next co
bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
switch (cmd.id) {
//
// navigation commands
//
@ -919,7 +919,7 @@ void Copter::ModeAuto::loiter_run()
// accept pilot input of yaw
float target_yaw_rate = 0;
if(!copter.failsafe.radio) {
if (!copter.failsafe.radio) {
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
@ -1112,7 +1112,7 @@ void Copter::ModeAuto::do_land(const AP_Mission::Mission_Command& cmd)
Location_Class target_loc = terrain_adjusted_location(cmd);
wp_start(target_loc);
}else{
} else {
// set landing state
land_state = LandStateType_Descending;
@ -1267,7 +1267,7 @@ void Copter::ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd)
// if the next nav command is a waypoint set end type to spline or straight
if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT) {
seg_end_type = AC_WPNav::SEGMENT_END_STRAIGHT;
}else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) {
} else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) {
seg_end_type = AC_WPNav::SEGMENT_END_SPLINE;
}
}
@ -1354,7 +1354,7 @@ void Copter::ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
void Copter::ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
{
if(cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
if (cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
copter.set_home_to_current_location(false);
} else {
copter.set_home(cmd.content.location, false);
@ -1374,7 +1374,7 @@ void Copter::ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
void Copter::ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
{
#if MOUNT == ENABLED
if(!copter.camera_mount.has_pan_control()) {
if (!copter.camera_mount.has_pan_control()) {
auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,0);
}
copter.camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
@ -1728,7 +1728,7 @@ bool Copter::ModeAuto::verify_loiter_time()
}
// start our loiter timer
if( loiter_time == 0 ) {
if ( loiter_time == 0 ) {
loiter_time = millis();
}
@ -1782,35 +1782,32 @@ bool Copter::ModeAuto::verify_yaw()
bool Copter::ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
{
// check if we have reached the waypoint
if( !copter.wp_nav->reached_wp_destination() ) {
if ( !copter.wp_nav->reached_wp_destination() ) {
return false;
}
// start timer if necessary
if(loiter_time == 0) {
if (loiter_time == 0) {
loiter_time = millis();
if(loiter_time_max > 0) {
if (loiter_time_max > 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
gcs().send_text(MAV_SEVERITY_INFO, "Delay in arrival at command #%i",cmd.index);
}
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if(loiter_time_max == 0) {
if (loiter_time_max == 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}else{
} else {
return false;
}
}
// verify_circle - check if we have circled the point enough
bool Copter::ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
{
@ -1841,18 +1838,16 @@ bool Copter::ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
return fabsf(copter.circle_nav->get_angle_total()/M_2PI) >= LOWBYTE(cmd.p1);
}
// verify_spline_wp - check if we have reached the next way point using spline
bool Copter::ModeAuto::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
{
// check if we have reached the waypoint
if( !copter.wp_nav->reached_wp_destination() ) {
if ( !copter.wp_nav->reached_wp_destination() ) {
return false;
}
// start timer if necessary
if(loiter_time == 0) {
if (loiter_time == 0) {
loiter_time = millis();
}
@ -1860,7 +1855,7 @@ bool Copter::ModeAuto::verify_spline_wp(const AP_Mission::Mission_Command& cmd)
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}else{
} else {
return false;
}
}