Esempi in C++ (Cpp) per auto_loiter_start

Esempio n. 1

File: commands_logic.cpp Progetto: ArmaJo/ardupilot

// exit_mission - function that is called once the mission completes
void Copter::exit_mission()
{
    // play a tone
    AP_Notify::events.mission_complete = 1;
    // if we are not on the ground switch to loiter or land
    if(!ap.land_complete) {
        // try to enter loiter but if that fails land
        if(!auto_loiter_start()) {
            set_mode(LAND, MODE_REASON_MISSION_END);
        }
    }else{
        // if we've landed it's safe to disarm
        init_disarm_motors();
    }
}

Esempio n. 2

File: commands_logic.cpp Progetto: 975526435/ardupilot

// exit_mission - function that is called once the mission completes
void Copter::exit_mission()
{
    // play a tone
    AP_Notify::events.mission_complete = 1;
    // if we are not on the ground switch to loiter or land
    if(!ap.land_complete) {
        // try to enter loiter but if that fails land
        if(!auto_loiter_start()) {
            set_mode(LAND, MODE_REASON_MISSION_END);
        }
    }else{
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
        // disarm when the landing detector says we've landed and throttle is at minimum
        if (ap.throttle_zero || failsafe.radio) {
            init_disarm_motors();
        }
#else
        // if we've landed it's safe to disarm
        init_disarm_motors();
#endif
    }
}