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Code Issues Releases Activity

REVONANO: Landing and disarming fixes

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Also prevent stabi control in land's disarm state
This commit is contained in:
abeck70 2015-05-25 08:50:33 +10:00
parent 2625340934
commit 89b40f3173
2 changed files with 6 additions and 13 deletions
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12
flight/modules/ManualControl/armhandler.c
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@ -346,18 +346,6 @@ static bool forcedDisArm(void)
return true;
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// check landing state if active
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
StatusVtolLandData statusland;
StatusVtolLandGet(&statusland);
if (statusland.State == STATUSVTOLLAND_STATE_DISARMED) {
return true;
}
}
#endif
return false;
}

7
flight/modules/PathFollower/vtollandfsm.cpp
View File

@ -31,6 +31,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -638,6 +639,7 @@ void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
void VtolLandFSM::setup_thrustoff(void)
{
mLandData->thrustLimit = -1.0f;
mLandData->flZeroStabiHorizontal = true;
mLandData->flConstrainThrust = true;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
@ -653,10 +655,13 @@ void VtolLandFSM::setup_disarmed(void)
{
// nothing to do
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
mLandData->flZeroStabiHorizontal = true;
mLandData->observationCount = 0;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
}
}
void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)