Blimp: Some fixups, swap mode land & mode hold so previous "land" beh…

…aviour is kept...
MichelleRos · Jun 11, 2024 · 068f781 · 068f781
1 parent 8258a6a
commit 068f781
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Showing 3 changed files with 4 additions and 9 deletions.
diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp
@@ -91,8 +91,8 @@ const AP_Param::GroupInfo Loiter::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SCALER_SPD", 18, Loiter, scaler_spd, 0.99),
 
-    // @Param: LAG
-    // @DisplayName: Loiter lag
+    // @Param: POS_LAG
+    // @DisplayName: Loiter position lag
     // @Description: Number of seconds' worth of travel that the actual position can be behind the target position.
     // @Units: s
     // @Range: 0 0.999

diff --git a/Blimp/mode.h b/Blimp/mode.h
@@ -13,13 +13,13 @@ class Mode
 
     // Auto Pilot Modes enumeration
     enum class Number : uint8_t {
-        LAND =          0,  // go down to the ground, then go to mode hold
+        HOLD =          0,  // hold (stop moving)
         MANUAL =        1,  // manual control
         VELOCITY =      2,  // velocity mode
         LOITER =        3,  // loiter mode (position hold)
         RTL =           4,  // rtl
         AUTO =          5,  // auto
-        HOLD =          6,  // hold (stop moving)
+        LAND =          6,  // go down to the ground, then go to mode hold
     };
 
     // constructor

diff --git a/Blimp/mode_loiter.cpp b/Blimp/mode_loiter.cpp
@@ -60,10 +60,5 @@ void ModeLoiter::run()
         target_yaw = blimp.ahrs.get_yaw();
     }
 
-    if (!blimp.motors->armed()) {
-        target_pos = blimp.pos_ned;
-        target_yaw = blimp.ahrs.get_yaw();
-    }
-
     blimp.loiter->run(target_pos, target_yaw, Vector4b{false,false,false,false});
 }