Copter: make safe spool down for tradheli in autotune mode

ArduPilot · Jul 3, 2024 · 0647444 · 0647444
1 parent 61c910b
commit 0647444
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Showing 2 changed files with 13 additions and 23 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -184,6 +184,7 @@ class Mode {
     // pause and resume a mode
     virtual bool pause() { return false; };
     virtual bool resume() { return false; };
+    void make_safe_ground_handling(bool force_throttle_unlimited = false);
 
     // true if weathervaning is allowed in the current mode
 #if WEATHERVANE_ENABLED == ENABLED
@@ -196,7 +197,6 @@ class Mode {
     bool is_disarmed_or_landed() const;
     void zero_throttle_and_relax_ac(bool spool_up = false);
     void zero_throttle_and_hold_attitude();
-    void make_safe_ground_handling(bool force_throttle_unlimited = false);
 
     // Return stopping point as a location with above origin alt frame
     Location get_stopping_point() const;

diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
@@ -38,30 +38,20 @@ void AutoTune::run()
     // apply SIMPLE mode transform to pilot inputs
     copter.update_simple_mode();
 
-    // reset target lean angles and heading while landed
+    // disarm when the landing detector says we've landed and spool state is ground idle
+    if (copter.ap.land_complete && motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
+        copter.arming.disarm(AP_Arming::Method::LANDED);
+    }
+
+    // if not armed set throttle to zero and exit immediately
     if (copter.ap.land_complete) {
-        // we are landed, shut down
-        float target_climb_rate = get_pilot_desired_climb_rate_cms();
-
-        // set motors to spin-when-armed if throttle below deadzone, otherwise full range (but motors will only spin at min throttle)
-        if (target_climb_rate < 0.0f) {
-            copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        } else {
-            copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-        }
-        copter.attitude_control->reset_rate_controller_I_terms_smoothly();
-        copter.attitude_control->reset_yaw_target_and_rate();
-
-        float target_roll, target_pitch, target_yaw_rate;
-        get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);
-
-        copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
-        copter.pos_control->relax_z_controller(0.0f);
-        copter.pos_control->update_z_controller();
-    } else {
-        // run autotune mode
-        AC_AutoTune::run();
+        copter.flightmode->make_safe_ground_handling();
+        return;
     }
+
+    // run autotune mode
+    AC_AutoTune::run();
+
 }