mirror of https://github.com/ArduPilot/ardupilot
Plane: Make mode takeoff entry climb to TKOFF_ALT before loitering
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@ -68,23 +68,37 @@ bool ModeTakeoff::_enter()
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void ModeTakeoff::update()
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void ModeTakeoff::update()
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{
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{
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// don't setup waypoints if we dont have a valid position and home!
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if (!(plane.current_loc.initialised() && AP::ahrs().home_is_set())) {
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
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return;
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}
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const float alt = target_alt;
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const float dist = target_dist;
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if (!takeoff_started) {
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if (!takeoff_started) {
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const uint16_t altitude = plane.relative_ground_altitude(false,true);
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const float direction = degrees(ahrs.yaw);
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// see if we will skip takeoff as already flying
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// see if we will skip takeoff as already flying
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if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
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if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
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gcs().send_text(MAV_SEVERITY_INFO, "Takeoff skipped - circling");
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if (altitude >= alt) {
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plane.prev_WP_loc = plane.current_loc;
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gcs().send_text(MAV_SEVERITY_INFO, "Above TKOFF alt - loitering");
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plane.next_WP_loc = plane.current_loc;
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plane.next_WP_loc = plane.current_loc;
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takeoff_started = true;
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takeoff_started = true;
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plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
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plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
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} else {
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gcs().send_text(MAV_SEVERITY_INFO, "Climbing to TKOFF alt then loitering");
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plane.next_WP_loc = plane.current_loc;
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plane.next_WP_loc.alt += ((alt - altitude) *100);
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plane.next_WP_loc.offset_bearing(direction, dist);
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takeoff_started = true;
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plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
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}
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}
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}
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// not flying so do a full takeoff sequence
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} else {
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if (!takeoff_started) {
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// setup target waypoint and alt for loiter at dist and alt from start
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// setup target location 1.5 times loiter radius from the
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// takeoff point, at a height of TKOFF_ALT
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const float dist = target_dist;
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const float alt = target_alt;
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const float direction = degrees(ahrs.yaw);
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start_loc = plane.current_loc;
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start_loc = plane.current_loc;
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plane.prev_WP_loc = plane.current_loc;
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plane.prev_WP_loc = plane.current_loc;
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@ -99,27 +113,27 @@ void ModeTakeoff::update()
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plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
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plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
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if (!plane.throttle_suppressed) {
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if (!plane.throttle_suppressed) {
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gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm at %.1fm to %.1f deg",
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gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm for %.1fm heading %.1f deg",
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alt, dist, direction);
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alt, dist, direction);
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takeoff_started = true;
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takeoff_started = true;
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}
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}
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}
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}
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}
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// we finish the initial level takeoff if we climb past
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// we finish the initial level takeoff if we climb past
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// TKOFF_LVL_ALT or we pass the target location. The check for
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// TKOFF_LVL_ALT or we pass the target location. The check for
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// target location prevents us flying forever if we can't climb
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// target location prevents us flying forever if we can't climb
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// reset the loiter waypoint target to be correct bearing and dist
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// from starting location in case original yaw used to set it was off due to EKF
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// reset or compass interference from max throttle
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if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
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if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
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(plane.current_loc.alt - start_loc.alt >= level_alt*100 ||
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(plane.current_loc.alt - start_loc.alt >= level_alt*100 ||
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start_loc.get_distance(plane.current_loc) >= target_dist)) {
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start_loc.get_distance(plane.current_loc) >= dist)) {
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// reached level alt, re-calculate bearing to cope with systems with no compass
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// reset the target loiter waypoint using current yaw which should be close to correct starting heading
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// or with poor initial compass
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const float direction = start_loc.get_bearing_to(plane.current_loc) * 0.01;
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float direction = start_loc.get_bearing_to(plane.current_loc) * 0.01;
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plane.next_WP_loc = start_loc;
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float dist_done = start_loc.get_distance(plane.current_loc);
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plane.next_WP_loc.offset_bearing(direction, dist);
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const float dist = target_dist;
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plane.next_WP_loc.alt += alt*100.0;
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plane.next_WP_loc = plane.current_loc;
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plane.next_WP_loc.offset_bearing(direction, MAX(dist-dist_done, 0));
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plane.next_WP_loc.alt = start_loc.alt + target_alt*100.0;
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plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
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plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
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