Copter: Minor changes on takeoff cmd - takeoff_init_ms was changed fr…

…om a uint16_t to a uint32_t because it was overflowing
SkyRocketToys · Nov 8, 2017 · 150c392 · 150c392
1 parent 42d2219
commit 150c392
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/ArduCopter/toy_mode.cpp b/ArduCopter/toy_mode.cpp
@@ -623,7 +623,7 @@ void ToyMode::update()
             if (copter.motors->armed()) {
                 throttle_arm_ms = AP_HAL::millis();
                 takeoff_init = true;
-                //takeoff_started_ms = now;
+                takeoff_init_ms = AP_HAL::millis();
                 copter.set_auto_armed(true);
                 GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tmode: takeoff initialised");
             }
@@ -866,12 +866,14 @@ void ToyMode::throttle_adjust(float &throttle_control)
     /*
       implement delay on auto-takeoff to allow initialisations to complete
     */
+    const uint16_t takeoff_delay_ms = 3000;
     if (takeoff_init) {
         // allow 3 seconds delay
-        if (now - takeoff_init_ms > 3000) {
+        uint32_t temp = (now - takeoff_init_ms);
+        if (now - takeoff_init_ms > takeoff_delay_ms) {
             takeoff_started_ms = now;
             takeoff_init = false;
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tmode: takeoff started");
+            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tmode: takeoff started: %d, %d, %d ", temp, now, takeoff_init_ms);
         }
     }
 

diff --git a/ArduCopter/toy_mode.h b/ArduCopter/toy_mode.h
@@ -129,8 +129,9 @@ class ToyMode
 
     //used for takeoff cmd
     int32_t takeoff_started_ms;
+    uint32_t takeoff_init_ms;
     bool takeoff_init = false;
-    uint16_t takeoff_init_ms;
+
 
     // time when we were last told we are recording video
     uint32_t last_video_ms;