Add extended sys state for Copter #8265
Conversation
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This seems like a good idea in general. I've heard a few times from GCS/companion-computer users that they had trouble knowing if the vehicle was landed or not. |
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Coincidentally I also implemented this on the same day that @khancyr did! For comparison, here are the commits: (just this specific chunk:) Those two functions ( |
khancyr
changed the title
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rebased on master, vtol_state() (default to undefined), remove pure virtual function so all interface don't need to override it by default. |
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rebase and update after mistake on takeoff flag (thanks @Kiwa21) |
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Bug: if you change to Land mode and then get out of it before landing, you'll still be in landing state.
Also, I have a fundamental issue with the approach taken, it's going back to variables spread out in the code base. In my opinion the Mode class should have one or two methods to get the state, that modes can then override.
| @@ -50,4 +50,5 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK | |||
| MAV_STATE system_status() const override; | |||
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| uint8_t radio_in_rssi() const; | |||
| MAV_LANDED_STATE landed_state() const override { return MAV_LANDED_STATE_UNDEFINED;}; | |||
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Why this overridden if it does the same as the base method?
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oups forget to remove those for now !
| @@ -43,4 +43,5 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK { | |||
| MAV_MODE base_mode() const override; | |||
| uint32_t custom_mode() const override; | |||
| MAV_STATE system_status() const override; | |||
| MAV_LANDED_STATE landed_state() const override { return MAV_LANDED_STATE_UNDEFINED;}; | |||
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I agree with you. But I will work on that |
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Closing for #8587 |
This PR add a new flag to report if we are in landing state, update the takeoff state in auto and guided mode, report land and takeoff state in the extended sys state message. Those are need for better CC control sequences !