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Set home on arming and on takeoff

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This commit is contained in:
Lorenz Meier
2015-10-27 09:36:09 +01:00
parent 8d0e10e830
commit b7f3c96d4a
1 changed files with 5 additions and 2 deletions
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src/modules/commander/commander.cpp
+5 -2
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@@ -149,7 +149,7 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60; /**< Maximum percentage
#define PRINT_INTERVAL 5000000
#define PRINT_MODE_REJECT_INTERVAL 10000000
#define INAIR_RESTART_HOLDOFF_INTERVAL 2000000
#define INAIR_RESTART_HOLDOFF_INTERVAL 1000000
#define HIL_ID_MIN 1000
#define HIL_ID_MAX 1999
@@ -882,6 +882,7 @@ int commander_thread_main(int argc, char *argv[])
bool arm_tune_played = false;
bool was_landed = true;
bool was_armed = false;
bool startup_in_hil = false;
@@ -2248,10 +2249,12 @@ int commander_thread_main(int argc, char *argv[])
}
/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
else if (was_landed && !status.condition_landed && now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
else if (((!was_armed && armed.armed) || (was_landed && !status.condition_landed)) &&
(now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) {
commander_set_home_position(home_pub, _home, local_position, global_position);
}
was_landed = status.condition_landed;
was_armed = armed.armed;
/* print new state */
if (arming_state_changed) {