ardupilot/Blimp/commands.cpp

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#include "Blimp.h"
// checks if we should update ahrs/RTL home position from the EKF
void Blimp::update_home_from_EKF()
{
// exit immediately if home already set
if (ahrs.home_is_set()) {
return;
}
// special logic if home is set in-flight
if (motors->armed()) {
set_home_to_current_location_inflight();
} else {
// move home to current ekf location (this will set home_state to HOME_SET)
if (!set_home_to_current_location(false)) {
// ignore failure
}
}
}
// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
void Blimp::set_home_to_current_location_inflight()
{
// get current location from EKF
Location temp_loc;
Location ekf_origin;
if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
temp_loc.alt = ekf_origin.alt;
if (!set_home(temp_loc, false)) {
return;
}
}
}
// set_home_to_current_location - set home to current GPS location
bool Blimp::set_home_to_current_location(bool lock)
{
// get current location from EKF
Location temp_loc;
if (ahrs.get_location(temp_loc)) {
if (!set_home(temp_loc, lock)) {
return false;
}
return true;
}
return false;
}
// set_home - sets ahrs home (used for RTL) to specified location
// initialises inertial nav and compass on first call
// returns true if home location set successfully
bool Blimp::set_home(const Location& loc, bool lock)
{
// check EKF origin has been set
Location ekf_origin;
if (!ahrs.get_origin(ekf_origin)) {
return false;
}
// check home is close to EKF origin
if (far_from_EKF_origin(loc)) {
return false;
}
const bool home_was_set = ahrs.home_is_set();
// set ahrs home (used for RTL)
if (!ahrs.set_home(loc)) {
return false;
}
// init inav and compass declination
if (!home_was_set) {
// record home is set
AP::logger().Write_Event(LogEvent::SET_HOME);
}
// lock home position
if (lock) {
ahrs.lock_home();
}
// return success
return true;
}
// far_from_EKF_origin - checks if a location is too far from the EKF origin
// returns true if too far
bool Blimp::far_from_EKF_origin(const Location& loc)
{
// check distance to EKF origin
Location ekf_origin;
if (ahrs.get_origin(ekf_origin) && ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) || (labs(ekf_origin.alt - loc.alt) > EKF_ORIGIN_MAX_DIST_M))) {
return true;
}
// close enough to origin
return false;
}