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Code Issues Releases Activity

OP-1867 autoland/takeoff

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Allow takeoff after land on abort when in takeoff flight mode without having to change flight mode.
This commit is contained in:
abeck70 2015-05-04 21:48:24 +10:00
parent 9a312ef115
commit 5c13db221b
1 changed files with 8 additions and 0 deletions
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8
flight/libraries/plans.c
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@ -294,6 +294,14 @@ void plan_run_AutoTakeoff()
break; break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT: case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (!flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD: case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
// nothing to do. land has been requested. stay here for forever until mode change. // nothing to do. land has been requested. stay here for forever until mode change.
default: default: