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Plane: make GUIDED behaviour match copter

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we now have to be in GUIDED mode to accept a new GUIDED WP. When
entering GUIDED mode start loitering about the current position
This commit is contained in:
Andrew Tridgell 2015-05-10 14:28:02 +10:00
parent 3991e0c476
commit ff126db1d3
3 changed files with 10 additions and 8 deletions
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7
ArduPlane/GCS_Mavlink.pde
View File

@ -960,6 +960,10 @@ GCS_MAVLINK::data_stream_send(void)
*/
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
if (control_mode != GUIDED) {
// only accept position updates when in GUIDED mode
return;
}
guided_WP_loc = cmd.content.location;
// add home alt if needed
@ -968,9 +972,6 @@ void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
guided_WP_loc.flags.relative_alt = 0;
}
set_mode(GUIDED);
// make any new wp uploaded instant (in case we are already in Guided mode)
set_guided_WP();
}

5
ArduPlane/commands.pde
View File

@ -111,11 +111,6 @@ static void init_home()
// Save prev loc
// -------------
next_WP_loc = prev_WP_loc = home;
// Load home for a default guided_WP
// -------------
guided_WP_loc = home;
guided_WP_loc.alt += g.RTL_altitude_cm;
}
/*

6
ArduPlane/system.pde
View File

@ -410,6 +410,11 @@ static void set_mode(enum FlightMode mode)
case GUIDED:
auto_throttle_mode = true;
guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code
*/
guided_WP_loc = current_loc;
set_guided_WP();
break;
}
@ -442,6 +447,7 @@ static bool mavlink_set_mode(uint8_t mode)
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CRUISE:
case GUIDED:
case AUTO:
case RTL:
case LOITER: