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Code Issues Releases Activity

OP-1858 autotakeoff and pathplanner

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1. Allow arming in pathplanner
2. Typo in comment
This commit is contained in:
abeck70 2015-04-28 20:54:44 +10:00
parent ba59c9085e
commit b14a966088
2 changed files with 2 additions and 1 deletions
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1
flight/modules/ManualControl/armhandler.c
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@ -317,6 +317,7 @@ static bool okToArm(void)
return false; return false;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF: case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
return true; return true;
default: default:

2
flight/modules/PathPlanner/pathplanner.c
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@ -262,7 +262,7 @@ static void pathPlannerTask()
} }
// check start conditions // check start conditions
// autotakeoff requires midpoint thrust uf we are in a pending takeoff situation // autotakeoff requires midpoint thrust if we are in a pending takeoff situation
if (pathAction.Command == PATHACTION_MODE_AUTOTAKEOFF) { if (pathAction.Command == PATHACTION_MODE_AUTOTAKEOFF) {
pathAction.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING; pathAction.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING;
if ((uint8_t)pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] == STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE) { if ((uint8_t)pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] == STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE) {