Copter: Add parameter LAND_REPOSITION to enable/disable user input during auto-mode landings and descents

ArduCopter/Parameters.h

@@ -111,10 +111,11 @@ public:
         k_param_rally,
         k_param_hybrid_brake_rate,
         k_param_hybrid_brake_angle_max,
-        k_param_pilot_accel_z,          // 48
+        k_param_pilot_accel_z,
         k_param_serial0_baud,
         k_param_serial1_baud,
         k_param_serial2_baud,
+        k_param_land_repositioning,     // 52
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
@@ -384,6 +385,8 @@ public:
     AP_Int8         ch8_option;
     AP_Int8         arming_check;
 
+    AP_Int8         land_repositioning;
+
 #if FRAME_CONFIG ==     HELI_FRAME
     // Heli
     RC_Channel      heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4;     // servos for swash plate and tail

ArduCopter/Parameters.pde

@@ -442,6 +442,13 @@ const AP_Param::Info var_info[] PROGMEM = {
     GSCALAR(hybrid_brake_angle_max, "HYBR_BRAKE_ANGLE",  HYBRID_BRAKE_ANGLE_DEFAULT),
 #endif
 
+    // @Param: LAND_REPOSITION
+    // @DisplayName: Land repositioning
+    // @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
+    // @Values: 0:No repositiong, 1:Repositioning
+    // @User: Advanced
+    GSCALAR(land_repositioning, "LAND_REPOSITION",     LAND_REPOSITION_DEFAULT),
+
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: HS1_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp

ArduCopter/config.h

@@ -461,6 +461,9 @@
 #ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM // require pilot to reduce throttle to minimum before vehicle will disarm
  # define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM ENABLED
 #endif
+#ifndef LAND_REPOSITION_DEFAULT
+ # define LAND_REPOSITION_DEFAULT   0   // by default the pilot cannot override roll/pitch during landing
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // CAMERA TRIGGER AND CONTROL

ArduCopter/control_auto.pde

@@ -274,6 +274,9 @@ static void auto_land_start(const Vector3f& destination)
 //      called by auto_run at 100hz or more
 static void auto_land_run()
 {
+    int16_t roll_control = 0, pitch_control = 0;
+    float target_yaw_rate = 0;
+
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || ap.land_complete) {
         attitude_control.relax_bf_rate_controller();
@@ -284,13 +287,24 @@ static void auto_land_run()
         return;
     }
 
-    // process pilot's yaw input
-    float target_yaw_rate = 0;
+    // process pilot's input
     if (!failsafe.radio) {
+        if (g.land_repositioning) {
+            // apply SIMPLE mode transform to pilot inputs
+            update_simple_mode();
+
+            // process pilot's roll and pitch input
+            roll_control = g.rc_1.control_in;
+            pitch_control = g.rc_2.control_in;
+        }
+
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
     }
 
+    // process roll, pitch inputs
+    wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
+
     // run loiter controller
     wp_nav.update_loiter();
 

ArduCopter/control_land.pde

@@ -68,12 +68,14 @@ static void land_gps_run()
 
     // process pilot inputs
     if (!failsafe.radio) {
-        // apply SIMPLE mode transform to pilot inputs
-        update_simple_mode();
+        if (g.land_repositioning) {
+            // apply SIMPLE mode transform to pilot inputs
+            update_simple_mode();
 
-        // process pilot's roll and pitch input
-        roll_control = g.rc_1.control_in;
-        pitch_control = g.rc_2.control_in;
+            // process pilot's roll and pitch input
+            roll_control = g.rc_1.control_in;
+            pitch_control = g.rc_2.control_in;
+        }
 
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
@@ -122,11 +124,13 @@ static void land_nogps_run()
 
     // process pilot inputs
     if (!failsafe.radio) {
-        // apply SIMPLE mode transform to pilot inputs
-        update_simple_mode();
+        if (g.land_repositioning) {
+            // apply SIMPLE mode transform to pilot inputs
+            update_simple_mode();
 
-        // get pilot desired lean angles
-        get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
+            // get pilot desired lean angles
+            get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
+        }
 
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);

ArduCopter/control_rtl.pde

@@ -251,6 +251,9 @@ static void rtl_descent_start()
 //      called by rtl_run at 100hz or more
 static void rtl_descent_run()
 {
+    int16_t roll_control = 0, pitch_control = 0;
+    float target_yaw_rate = 0;
+
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         attitude_control.relax_bf_rate_controller();
@@ -262,21 +265,23 @@ static void rtl_descent_run()
     }
 
     // process pilot's input
-    float target_yaw_rate = 0;
     if (!failsafe.radio) {
-        // apply SIMPLE mode transform to pilot inputs
-        update_simple_mode();
+        if (g.land_repositioning) {
+            // apply SIMPLE mode transform to pilot inputs
+            update_simple_mode();
 
-        // process pilot's roll and pitch input
-        wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
+            // process pilot's roll and pitch input
+            roll_control = g.rc_1.control_in;
+            pitch_control = g.rc_2.control_in;
+        }
 
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
-    } else {
-        // clear out pilot desired acceleration in case radio failsafe event occurs while descending
-        wp_nav.clear_pilot_desired_acceleration();
     }
 
+    // process roll, pitch inputs
+    wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
+
     // run loiter controller
     wp_nav.update_loiter();
 
@@ -311,6 +316,8 @@ static void rtl_land_start()
 //      called by rtl_run at 100hz or more
 static void rtl_land_run()
 {
+    int16_t roll_control = 0, pitch_control = 0;
+    float target_yaw_rate = 0;
     // if not auto armed set throttle to zero and exit immediately
     if(!ap.auto_armed || !inertial_nav.position_ok()) {
         attitude_control.relax_bf_rate_controller();
@@ -321,22 +328,24 @@ static void rtl_land_run()
         return;
     }
 
-    // process pilot's yaw input
-    float target_yaw_rate = 0;
+    // process pilot's input
     if (!failsafe.radio) {
-        // apply SIMPLE mode transform to pilot inputs
-        update_simple_mode();
+        if (g.land_repositioning) {
+            // apply SIMPLE mode transform to pilot inputs
+            update_simple_mode();
 
-        // process pilot's roll and pitch input
-        wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
+            // process pilot's roll and pitch input
+            roll_control = g.rc_1.control_in;
+            pitch_control = g.rc_2.control_in;
+        }
 
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
-    } else {
-        // clear out pilot desired acceleration in case radio failsafe event occurs while landing
-        wp_nav.clear_pilot_desired_acceleration();
     }
 
+     // process pilot's roll and pitch input
+    wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
+
     // run loiter controller
     wp_nav.update_loiter();