// auto_init - initialise auto controller
bool Copter::auto_init(bool ignore_checks)
{
if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
auto_mode = Auto_Loiter;
// reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce change of flips)
if (motors.armed() && ap.land_complete && !mission.starts_with_takeoff_cmd()) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd");
return false;
}
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (auto_yaw_mode == AUTO_YAW_ROI) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// clear guided limits
guided_limit_clear();
// start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume();
return true;
}else{
return false;
}
}
// auto_init - initialise auto controller
bool Copter::auto_init(bool ignore_checks)
{
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter Alt Hold if the Rotor Runup is not complete and current control mode has manual throttle control,
// as this will force the helicopter to descend.
if (!ignore_checks && mode_has_manual_throttle(control_mode) && !motors.rotor_runup_complete()){
return false;
}
#endif
if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
auto_mode = Auto_Loiter;
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (auto_yaw_mode == AUTO_YAW_ROI) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// clear guided limits
guided_limit_clear();
// start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume();
return true;
}else{
return false;
}
}
// auto_init - initialise auto controller
bool Copter::auto_init(bool ignore_checks)
{
if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
auto_mode = Auto_Loiter;
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (auto_yaw_mode == AUTO_YAW_ROI) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// clear guided limits
guided_limit_clear();
// start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume();
return true;
}else{
return false;
}
}
