ardupilot/Rover/mode_rtl.cpp

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#include "mode.h"
#include "Rover.h"
bool ModeRTL::_enter()
{
// refuse RTL if home has not been set
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if (!AP::ahrs().home_is_set()) {
return false;
}
// initialise waypoint navigation library
g2.wp_nav.init(MAX(0, g2.rtl_speed));
// set target to the closest rally point or home
#if AP_RALLY == ENABLED
if (!g2.wp_nav.set_desired_location(g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt))) {
return false;
}
#else
// set destination
if (!g2.wp_nav.set_desired_location(ahrs.get_home())) {
return false;
}
#endif
send_notification = true;
_loitering = false;
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return true;
}
void ModeRTL::update()
{
// determine if we should keep navigating
if (!g2.wp_nav.reached_destination()) {
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// update navigation controller
navigate_to_waypoint();
} else {
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// send notification
if (send_notification) {
send_notification = false;
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gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
}
// we have reached the destination
// boats loiter, rovers stop
if (!rover.is_boat()) {
stop_vehicle();
} else {
// if not loitering yet, start loitering
if (!_loitering) {
_loitering = rover.mode_loiter.enter();
}
// update stop or loiter
if (_loitering) {
rover.mode_loiter.update();
} else {
stop_vehicle();
}
}
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// update distance to destination
_distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
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}
}
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// get desired location
bool ModeRTL::get_desired_location(Location& destination) const
{
if (g2.wp_nav.is_destination_valid()) {
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destination = g2.wp_nav.get_oa_destination();
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return true;
}
return false;
}
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bool ModeRTL::reached_destination() const
{
return g2.wp_nav.reached_destination();
}
// set desired speed in m/s
bool ModeRTL::set_desired_speed(float speed)
{
return g2.wp_nav.set_speed_max(speed);
}