From f2b46389ee8c8e9dd73ad9ac1fc8170c759e8b1c Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Fri, 28 Feb 2014 21:42:41 +0100
Subject: fw: reset landing and takeoff state if switched to manual

---
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   | 55 ++++++++++++++++++----
 1 file changed, 45 insertions(+), 10 deletions(-)

(limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index a4142266b..ab2a2439b 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -176,6 +176,8 @@ private:
 	bool launch_detected;
 	bool usePreTakeoffThrust;
 
+	bool last_manual;				///< true if the last iteration was in manual mode (used to determine when a reset is needed)
+
 	/* Landingslope object */
 	Landingslope landingslope;
 
@@ -346,6 +348,16 @@ private:
 	 * Main sensor collection task.
 	 */
 	void		task_main() __attribute__((noreturn));
+
+	/*
+	 * Reset takeoff state
+	 */
+	int reset_takeoff_state();
+
+	/*
+	 * Reset landing state
+	 */
+	int reset_landing_state();
 };
 
 namespace l1_control
@@ -396,7 +408,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_mavlink_fd(-1),
 	launchDetector(),
 	launch_detected(false),
-	usePreTakeoffThrust(false)
+	usePreTakeoffThrust(false),
+	last_manual(false)
 {
 	/* safely initialize structs */
 	vehicle_attitude_s			_att = {0};
@@ -1042,20 +1055,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		// mission is active
 		_loiter_hold = false;
 
-		/* reset land state */
+		/* reset landing state */
 		if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
-			land_noreturn_horizontal = false;
-			land_noreturn_vertical = false;
-			land_stayonground = false;
-			land_motor_lim = false;
-			land_onslope = false;
+			reset_landing_state();
 		}
 
 		/* reset takeoff/launch state */
 		if (pos_sp_triplet.current.type != SETPOINT_TYPE_TAKEOFF) {
-			launch_detected = false;
-			usePreTakeoffThrust = false;
-			launchDetector.reset();
+			reset_takeoff_state();
 		}
 
 		if (was_circle_mode && !_l1_control.circle_mode()) {
@@ -1150,6 +1157,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 		/* no flight mode applies, do not publish an attitude setpoint */
 		setpoint = false;
+
+		/* reset landing and takeoff state */
+		if (!last_manual) {
+			reset_landing_state();
+			reset_takeoff_state();
+		}
 	}
 
 	if (usePreTakeoffThrust) {
@@ -1160,6 +1173,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 	}
 	_att_sp.pitch_body = _tecs.get_pitch_demand();
 
+	if (_control_mode.flag_control_position_enabled) {
+		last_manual = false;
+	} else {
+		last_manual = true;
+	}
+
 
 	return setpoint;
 }
@@ -1310,6 +1329,22 @@ FixedwingPositionControl::task_main()
 	_exit(0);
 }
 
+int FixedwingPositionControl::reset_takeoff_state()
+{
+	launch_detected = false;
+	usePreTakeoffThrust = false;
+	launchDetector.reset();
+}
+
+int FixedwingPositionControl::reset_landing_state()
+{
+	land_noreturn_horizontal = false;
+	land_noreturn_vertical = false;
+	land_stayonground = false;
+	land_motor_lim = false;
+	land_onslope = false;
+}
+
 int
 FixedwingPositionControl::start()
 {
-- 
cgit v1.2.3