C++ (Cpp) current_mode_has_user_takeoff示例

示例#1

文件： takeoff.cpp 项目： BrendanSmith/ardupilot

// initiate user takeoff - called when MAVLink TAKEOFF command is received
bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
{
    if (motors->armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {

#if FRAME_CONFIG == HELI_FRAME
        // Helicopters should return false if MAVlink takeoff command is received while the rotor is not spinning
        if (!motors->rotor_runup_complete()) {
            return false;
        }
#endif

        switch(control_mode) {
            case GUIDED:
                if (mode_guided.takeoff_start(takeoff_alt_cm)) {
                    set_auto_armed(true);
                    return true;
                }
                return false;
            case LOITER:
            case POSHOLD:
            case ALT_HOLD:
            case SPORT:
                set_auto_armed(true);
                takeoff_timer_start(takeoff_alt_cm);
                return true;
            default:
                return false;
        }
    }
    return false;
}

示例#2

文件： takeoff.cpp 项目： JohnnyHolmes/ardupilot

// initiate user takeoff - called when MAVLink TAKEOFF command is received
bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
{
    if (motors.armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
        switch(control_mode) {
            case GUIDED:
                set_auto_armed(true);
                guided_takeoff_start(takeoff_alt_cm);
                return true;
            case LOITER:
            case POSHOLD:
            case ALT_HOLD:
            case SPORT:
                set_auto_armed(true);
                takeoff_timer_start(takeoff_alt_cm);
                return true;
        }
    }
    return false;
}