Copter: change make_safe_shut_down to make_safe_spool_down

ArduCopter/mode.cpp

@@ -407,10 +407,10 @@ void Copter::Mode::zero_throttle_and_hold_attitude()
     attitude_control->set_throttle_out(0.0f, false, copter.g.throttle_filt);
 }
 
-void Copter::Mode::make_safe_shut_down()
+void Copter::Mode::make_safe_spool_down()
 {
     // command aircraft to initiate the shutdown process
-    motors->set_desired_spool_state(AP_Motors::DESIRED_SHUT_DOWN);
+    motors->set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
     switch (motors->get_spool_mode()) {
 
     case AP_Motors::SHUT_DOWN:

ArduCopter/mode.h

@@ -117,7 +117,7 @@ protected:
     // helper functions
     void zero_throttle_and_relax_ac(bool spool_up = false);
     void zero_throttle_and_hold_attitude();
-    void make_safe_shut_down();
+    void make_safe_spool_down();
 
     // functions to control landing
     // in modes that support landing

ArduCopter/mode_auto.cpp

@@ -741,7 +741,7 @@ void Copter::ModeAuto::wp_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         wp_nav->wp_and_spline_init();
         return;
     }
@@ -771,7 +771,7 @@ void Copter::ModeAuto::spline_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         wp_nav->wp_and_spline_init();
         return;
     }
@@ -809,14 +809,10 @@ void Copter::ModeAuto::spline_run()
 //      called by auto_run at 100hz or more
 void Copter::ModeAuto::land_run()
 {
-    // disarm when the landing detector says we've landed
-    if (ap.land_complete && motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
-        copter.init_disarm_motors();
-    }
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         loiter_nav->init_target();
         return;
     }
@@ -871,7 +867,7 @@ void Copter::ModeAuto::loiter_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         wp_nav->wp_and_spline_init();
         return;
     }
@@ -1731,7 +1727,9 @@ bool Copter::ModeAuto::verify_loiter_to_alt()
 // returns true with RTL has completed successfully
 bool Copter::ModeAuto::verify_RTL()
 {
-    return (copter.mode_rtl.state_complete() && (copter.mode_rtl.state() == RTL_FinalDescent || copter.mode_rtl.state() == RTL_Land));
+    return (copter.mode_rtl.state_complete() && 
+    (copter.mode_rtl.state() == RTL_FinalDescent || copter.mode_rtl.state() == RTL_Land) &&
+    (motors->get_spool_mode() == AP_Motors::GROUND_IDLE));
 }
 
 /********************************************************************************/

ArduCopter/mode_brake.cpp

@@ -33,7 +33,7 @@ void Copter::ModeBrake::run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
         return;
     }

ArduCopter/mode_circle.cpp

@@ -49,7 +49,7 @@ void Copter::ModeCircle::run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 

ArduCopter/mode_follow.cpp

@@ -28,7 +28,7 @@ void Copter::ModeFollow::run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 

ArduCopter/mode_guided.cpp

@@ -379,7 +379,7 @@ void Copter::Mode::auto_takeoff_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         wp_nav->shift_wp_origin_to_current_pos();
         return;
     }
@@ -427,7 +427,7 @@ void Copter::ModeGuided::pos_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 
@@ -469,7 +469,7 @@ void Copter::ModeGuided::vel_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 
@@ -522,7 +522,7 @@ void Copter::ModeGuided::posvel_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 
@@ -606,7 +606,7 @@ void Copter::ModeGuided::angle_control_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || (ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 

ArduCopter/mode_land.cpp

@@ -60,7 +60,7 @@ void Copter::ModeLand::gps_run()
 
     // Land State Machine Determination
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         loiter_nav->init_target();
     } else {
         // set motors to full range
@@ -111,7 +111,7 @@ void Copter::ModeLand::nogps_run()
 
     // Land State Machine Determination
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
     } else {
         // set motors to full range
         motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

ArduCopter/mode_rtl.cpp

@@ -129,7 +129,7 @@ void Copter::ModeRTL::climb_return_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 
@@ -186,7 +186,7 @@ void Copter::ModeRTL::loiterathome_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 
@@ -258,7 +258,7 @@ void Copter::ModeRTL::descent_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         return;
     }
 
@@ -363,7 +363,7 @@ void Copter::ModeRTL::land_run(bool disarm_on_land)
 
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete) {
-        make_safe_shut_down();
+        make_safe_spool_down();
         loiter_nav->init_target();
         return;
     }