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Copter: log entry and exit of Auto RTL pseudo mode

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Iampete1 2021-08-31 15:48:24 +01:00 committed by Randy Mackay
parent 327f3a0803
commit f848917e1a
1 changed files with 20 additions and 3 deletions
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23
ArduCopter/mode_auto.cpp
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@ -151,8 +151,10 @@ void ModeAuto::run()
}
// only pretend to be in auto RTL so long as mission still thinks its in a landing sequence or the mission has completed
if (!(mission.get_in_landing_sequence_flag() || mission.state() == AP_Mission::mission_state::MISSION_COMPLETE)) {
if (auto_RTL && (!(mission.get_in_landing_sequence_flag() || mission.state() == AP_Mission::mission_state::MISSION_COMPLETE))) {
auto_RTL = false;
// log exit from Auto RTL
copter.logger.Write_Mode((uint8_t)copter.flightmode->mode_number(), ModeReason::AUTO_RTL_EXIT);
}
}
@ -169,13 +171,28 @@ bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
// if not already in auto switch to auto
if ((copter.flightmode == &copter.mode_auto) || set_mode(Mode::Number::AUTO, reason)) {
auto_RTL = true;
// log entry into AUTO RTL
copter.logger.Write_Mode((uint8_t)copter.flightmode->mode_number(), reason);
// make happy noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
return true;
}
// mode change failed, revert force resume flag
mission.set_force_resume(false);
return false;
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to AUTO RTL failed");
} else {
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to AUTO RTL failed: No landing sequence found");
}
AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, "No landing sequence found");
return false;
}