mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.3 KiB
C++
41 lines
1.3 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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* control_avoid.cpp - init and run calls for AP_Avoidance's AVOID flight mode
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*
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* This re-uses GUIDED mode functions but does not interfere with the GCS or companion computer's
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* use of guided mode because the velocity requests arrive from different sources (i.e MAVLink messages
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* for GCS and Companion Computers vs the AP_Avoidance_Copter class for adsb avoidance) and inputs from
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* each source are only accepted and processed in the appropriate flight mode.
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*/
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// initialise avoid_adsb controller
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bool Copter::avoid_adsb_init(const bool ignore_checks)
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{
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// re-use guided mode
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return guided_init(ignore_checks);
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}
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bool Copter::avoid_adsb_set_velocity(const Vector3f& velocity_neu)
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{
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// check flight mode
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if (control_mode != AVOID_ADSB) {
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return false;
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}
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// re-use guided mode's velocity controller
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guided_set_velocity(velocity_neu);
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return true;
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}
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// runs the AVOID_ADSB controller
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void Copter::avoid_adsb_run()
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{
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// re-use guided mode's velocity controller
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// Note: this is safe from interference from GCSs and companion computer's whose guided mode
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// position and velocity requests will be ignored while the vehicle is not in guided mode
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guided_run();
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}
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