ardupilot/ArduPlane/commands.cpp

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/*
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* logic for dealing with the current command in the mission and home location
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*/
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#include "Plane.h"
/*
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* set_next_WP - sets the target location the vehicle should fly to
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*/
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void Plane::set_next_WP(const struct Location &loc)
{
if (auto_state.next_wp_crosstrack) {
// copy the current WP into the OldWP slot
prev_WP_loc = next_WP_loc;
auto_state.crosstrack = true;
} else {
// we should not try to cross-track for this waypoint
prev_WP_loc = current_loc;
// use cross-track for the next waypoint
auto_state.next_wp_crosstrack = true;
auto_state.crosstrack = false;
}
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// Load the next_WP slot
// ---------------------
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next_WP_loc = loc;
// if lat and lon is zero, then use current lat/lon
// this allows a mission to contain a "loiter on the spot"
// command
if (next_WP_loc.lat == 0 && next_WP_loc.lng == 0) {
next_WP_loc.lat = current_loc.lat;
next_WP_loc.lng = current_loc.lng;
// additionally treat zero altitude as current altitude
if (next_WP_loc.alt == 0) {
next_WP_loc.alt = current_loc.alt;
next_WP_loc.flags.relative_alt = false;
next_WP_loc.flags.terrain_alt = false;
}
}
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// convert relative alt to absolute alt
if (next_WP_loc.flags.relative_alt) {
next_WP_loc.flags.relative_alt = false;
next_WP_loc.alt += home.alt;
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}
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are
// past the waypoint when we start on a leg, then use the current
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
prev_WP_loc = current_loc;
}
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// used to control FBW and limit the rate of climb
// -----------------------------------------------
set_target_altitude_location(next_WP_loc);
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// zero out our loiter vals to watch for missed waypoints
loiter_angle_reset();
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setup_glide_slope();
setup_turn_angle();
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loiter_angle_reset();
}
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void Plane::set_guided_WP(void)
{
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if (aparm.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
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// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP_loc = current_loc;
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// Load the next_WP slot
// ---------------------
next_WP_loc = guided_WP_loc;
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// used to control FBW and limit the rate of climb
// -----------------------------------------------
set_target_altitude_current();
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setup_glide_slope();
setup_turn_angle();
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// reset loiter start time.
loiter.start_time_ms = 0;
// start in non-VTOL mode
auto_state.vtol_loiter = false;
loiter_angle_reset();
}
// run this at setup on the ground
// -------------------------------
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void Plane::init_home()
{
gcs().send_text(MAV_SEVERITY_INFO, "Init HOME");
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ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
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Log_Write_Home_And_Origin();
gcs().send_home(gps.location());
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// Save Home to EEPROM
mission.write_home_to_storage();
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// Save prev loc
// -------------
next_WP_loc = prev_WP_loc = home;
}
/*
update home location from GPS
this is called as long as we have 3D lock and the arming switch is
not pushed
*/
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void Plane::update_home()
{
if ((g2.home_reset_threshold == -1) ||
((g2.home_reset_threshold > 0) &&
(fabsf(barometer.get_altitude()) > g2.home_reset_threshold))) {
// don't auto-update if we have changed barometer altitude
// significantly. This allows us to cope with slow baro drift
// but not re-do home and the baro if we have changed height
// significantly
return;
}
if (home_is_set == HOME_SET_NOT_LOCKED) {
Location loc;
if(ahrs.get_position(loc)) {
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
gcs().send_home(loc);
}
}
barometer.update_calibration();
}
// sets ekf_origin if it has not been set.
// should only be used when there is no GPS to provide an absolute position
void Plane::set_ekf_origin(const Location& loc)
{
// check location is valid
if (!check_latlng(loc)) {
return;
}
// check if EKF origin has already been set
Location ekf_origin;
if (ahrs.get_origin(ekf_origin)) {
return;
}
if (!ahrs.set_origin(loc)) {
return;
}
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
// send ekf origin to GCS
gcs().send_ekf_origin(loc);
}