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Copter: auto mode takeoff complete pos fix #28061

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merged 1 commit into from
Sep 10, 2024
Merged

Copter: auto mode takeoff complete pos fix #28061

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2 changes: 1 addition & 1 deletion ArduCopter/mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ class _AutoTakeoff {
public:
void run();
void start(float complete_alt_cm, bool terrain_alt);
bool get_position(Vector3p& completion_pos);
bool get_completion_pos(Vector3p& pos_neu_cm);

bool complete; // true when takeoff is complete

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2 changes: 1 addition & 1 deletion ArduCopter/mode_auto.cpp
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Expand Up @@ -427,7 +427,7 @@ bool ModeAuto::wp_start(const Location& dest_loc)
Vector3f stopping_point;
if (_mode == SubMode::TAKEOFF) {
Vector3p takeoff_complete_pos;
if (auto_takeoff.get_position(takeoff_complete_pos)) {
if (auto_takeoff.get_completion_pos(takeoff_complete_pos)) {
stopping_point = takeoff_complete_pos.tofloat();
}
}
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6 changes: 3 additions & 3 deletions ArduCopter/takeoff.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -239,15 +239,15 @@ void _AutoTakeoff::start(float _complete_alt_cm, bool _terrain_alt)
}
}

// return takeoff final position if takeoff has completed successfully
bool _AutoTakeoff::get_position(Vector3p& _complete_pos)
// return takeoff final target position in cm from the EKF origin if takeoff has completed successfully
bool _AutoTakeoff::get_completion_pos(Vector3p& pos_neu_cm)
{
// only provide location if takeoff has completed
if (!complete) {
return false;
}

complete_pos = _complete_pos;
pos_neu_cm = complete_pos;
return true;
}

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