Copter: support for SCurves and position controller changes

wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
This commit is contained in:
Leonard Hall 2021-01-20 11:50:48 +09:00 committed by Randy Mackay
parent 204c839ae0
commit 328c0655e3
8 changed files with 169 additions and 181 deletions

View File

@ -215,8 +215,21 @@ float Mode::AutoYaw::yaw()
// messages (positive is clockwise, negative is counter clockwise) // messages (positive is clockwise, negative is counter clockwise)
float Mode::AutoYaw::rate_cds() const float Mode::AutoYaw::rate_cds() const
{ {
if (_mode == AUTO_YAW_RATE) { switch (_mode) {
case AUTO_YAW_HOLD:
case AUTO_YAW_ROI:
case AUTO_YAW_FIXED:
case AUTO_YAW_LOOK_AHEAD:
case AUTO_YAW_RESETTOARMEDYAW:
case AUTO_YAW_CIRCLE:
return 0.0f;
case AUTO_YAW_RATE:
return _rate_cds; return _rate_cds;
case AUTO_YAW_LOOK_AT_NEXT_WP:
return copter.wp_nav->get_yaw_rate();
} }
// return zero turn rate (this should never happen) // return zero turn rate (this should never happen)

View File

@ -91,7 +91,6 @@ enum AutoMode {
Auto_RTL, Auto_RTL,
Auto_CircleMoveToEdge, Auto_CircleMoveToEdge,
Auto_Circle, Auto_Circle,
Auto_Spline,
Auto_NavGuided, Auto_NavGuided,
Auto_Loiter, Auto_Loiter,
Auto_LoiterToAlt, Auto_LoiterToAlt,

View File

@ -369,8 +369,6 @@ public:
void land_start(const Vector3f& destination); void land_start(const Vector3f& destination);
void circle_movetoedge_start(const Location &circle_center, float radius_m); void circle_movetoedge_start(const Location &circle_center, float radius_m);
void circle_start(); void circle_start();
void spline_start(const Vector3f& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Vector3f& next_spline_destination);
void spline_start(const Location& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location& next_destination);
void nav_guided_start(); void nav_guided_start();
bool is_landing() const override; bool is_landing() const override;
@ -419,7 +417,6 @@ private:
void takeoff_run(); void takeoff_run();
void wp_run(); void wp_run();
void spline_run();
void land_run(); void land_run();
void rtl_run(); void rtl_run();
void circle_run(); void circle_run();
@ -427,7 +424,7 @@ private:
void loiter_run(); void loiter_run();
void loiter_to_alt_run(); void loiter_to_alt_run();
Location loc_from_cmd(const AP_Mission::Mission_Command& cmd) const; Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const;
void payload_place_start(const Vector3f& destination); void payload_place_start(const Vector3f& destination);
void payload_place_run(); void payload_place_run();
@ -442,12 +439,14 @@ private:
void do_takeoff(const AP_Mission::Mission_Command& cmd); void do_takeoff(const AP_Mission::Mission_Command& cmd);
void do_nav_wp(const AP_Mission::Mission_Command& cmd); void do_nav_wp(const AP_Mission::Mission_Command& cmd);
bool set_next_wp(const AP_Mission::Mission_Command& current_cmd, const Location &default_loc);
void do_land(const AP_Mission::Mission_Command& cmd); void do_land(const AP_Mission::Mission_Command& cmd);
void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd); void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
void do_circle(const AP_Mission::Mission_Command& cmd); void do_circle(const AP_Mission::Mission_Command& cmd);
void do_loiter_time(const AP_Mission::Mission_Command& cmd); void do_loiter_time(const AP_Mission::Mission_Command& cmd);
void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd); void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
void do_spline_wp(const AP_Mission::Mission_Command& cmd); void do_spline_wp(const AP_Mission::Mission_Command& cmd);
void get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline);
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd); void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
void do_guided_limits(const AP_Mission::Mission_Command& cmd); void do_guided_limits(const AP_Mission::Mission_Command& cmd);

View File

@ -93,10 +93,6 @@ void ModeAuto::run()
circle_run(); circle_run();
break; break;
case Auto_Spline:
spline_run();
break;
case Auto_NavGuided: case Auto_NavGuided:
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
nav_guided_run(); nav_guided_run();
@ -190,7 +186,7 @@ void ModeAuto::takeoff_start(const Location& dest_loc)
} }
// set waypoint controller target // set waypoint controller target
if (!wp_nav->set_wp_destination(dest)) { if (!wp_nav->set_wp_destination_loc(dest)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event(); copter.failsafe_terrain_on_event();
return; return;
@ -212,7 +208,7 @@ void ModeAuto::wp_start(const Location& dest_loc)
_mode = Auto_WP; _mode = Auto_WP;
// send target to waypoint controller // send target to waypoint controller
if (!wp_nav->set_wp_destination(dest_loc)) { if (!wp_nav->set_wp_destination_loc(dest_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event(); copter.failsafe_terrain_on_event();
return; return;
@ -293,7 +289,7 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame()); circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
// initialise wpnav to move to edge of circle // initialise wpnav to move to edge of circle
if (!wp_nav->set_wp_destination(circle_edge)) { if (!wp_nav->set_wp_destination_loc(circle_edge)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event(); copter.failsafe_terrain_on_event();
} }
@ -331,28 +327,6 @@ void ModeAuto::circle_start()
} }
} }
// auto_spline_start - initialises waypoint controller to implement flying to a particular destination using the spline controller
// seg_end_type can be SEGMENT_END_STOP, SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE. If Straight or Spline the next_destination should be provided
void ModeAuto::spline_start(const Location& destination, bool stopped_at_start,
AC_WPNav::spline_segment_end_type seg_end_type,
const Location& next_destination)
{
_mode = Auto_Spline;
// initialise wpnav
if (!wp_nav->set_spline_destination(destination, stopped_at_start, seg_end_type, next_destination)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AUTO_YAW_ROI) {
auto_yaw.set_mode_to_default(false);
}
}
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode // auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void ModeAuto::nav_guided_start() void ModeAuto::nav_guided_start()
@ -782,47 +756,7 @@ void ModeAuto::wp_run()
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
} else { } else {
// roll, pitch from waypoint controller, yaw heading from auto_heading() // roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), auto_yaw.yaw(), true); attitude_control->input_euler_angle_roll_pitch_yaw_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), auto_yaw.yaw(), auto_yaw.rate_cds());
}
}
// auto_spline_run - runs the auto spline controller
// called by auto_run at 100hz or more
void ModeAuto::spline_run()
{
// if not armed set throttle to zero and exit immediately
if (is_disarmed_or_landed()) {
make_safe_spool_down();
wp_nav->wp_and_spline_init();
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!copter.failsafe.radio && use_pilot_yaw()) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav->update_spline();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control->update_z_controller();
// call attitude controller
if (auto_yaw.mode() == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), target_yaw_rate);
} else {
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), auto_yaw.yaw(), true);
} }
} }
@ -1096,25 +1030,25 @@ void ModeAuto::do_takeoff(const AP_Mission::Mission_Command& cmd)
takeoff_start(cmd.content.location); takeoff_start(cmd.content.location);
} }
Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd) const Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const
{ {
Location ret(cmd.content.location); Location ret(cmd.content.location);
// use current lat, lon if zero // use current lat, lon if zero
if (ret.lat == 0 && ret.lng == 0) { if (ret.lat == 0 && ret.lng == 0) {
ret.lat = copter.current_loc.lat; ret.lat = default_loc.lat;
ret.lng = copter.current_loc.lng; ret.lng = default_loc.lng;
} }
// use current altitude if not provided // use current altitude if not provided
if (ret.alt == 0) { if (ret.alt == 0) {
// set to current altitude but in command's alt frame // set to default_loc's altitude but in command's alt frame
int32_t curr_alt; // note that this may use the terrain database
if (copter.current_loc.get_alt_cm(ret.get_alt_frame(),curr_alt)) { int32_t default_alt;
ret.set_alt_cm(curr_alt, ret.get_alt_frame()); if (default_loc.get_alt_cm(ret.get_alt_frame(), default_alt)) {
ret.set_alt_cm(default_alt, ret.get_alt_frame());
} else { } else {
// default to current altitude as alt-above-home // default to default_loc's altitude and frame
ret.set_alt_cm(copter.current_loc.alt, ret.set_alt_cm(default_loc.alt, default_loc.get_alt_frame());
copter.current_loc.get_alt_frame());
} }
} }
return ret; return ret;
@ -1123,46 +1057,90 @@ Location ModeAuto::loc_from_cmd(const AP_Mission::Mission_Command& cmd) const
// do_nav_wp - initiate move to next waypoint // do_nav_wp - initiate move to next waypoint
void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd) void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
{ {
Location target_loc = loc_from_cmd(cmd); // calculate default location used when lat, lon or alt is zero
Location default_loc = copter.current_loc;
if (wp_nav->is_active() && wp_nav->reached_wp_destination()) {
if (!wp_nav->get_wp_destination_loc(default_loc)) {
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
// get waypoint's location from command and send to wp_nav
const Location dest_loc = loc_from_cmd(cmd, default_loc);
if (!wp_nav->set_wp_destination_loc(dest_loc)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
_mode = Auto_WP;
// this will be used to remember the time in millis after we reach or pass the WP. // this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0; loiter_time = 0;
// this is the delay, stored in seconds // this is the delay, stored in seconds
loiter_time_max = cmd.p1; loiter_time_max = cmd.p1;
// Set wp navigation target // set next destination if necessary
wp_start(target_loc); if (!set_next_wp(cmd, dest_loc)) {
// failure to set next destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
// if no delay as well as not final waypoint set the waypoint as "fast" // initialise yaw
AP_Mission::Mission_Command temp_cmd; // To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
bool fast_waypoint = false; if (auto_yaw.mode() != AUTO_YAW_ROI) {
if (loiter_time_max == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) { auto_yaw.set_mode_to_default(false);
}
}
// checks the next mission command and adds it as a destination if necessary
// supports both straight line and spline waypoints
// cmd should be the current command
// default_loc should be the destination from the current_cmd but corrected for cases where user set lat, lon or alt to zero
// returns true on success, false on failure which should only happen due to a failure to retrieve terrain data
bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const Location &default_loc)
{
// do not add next wp if current command has a delay meaning the vehicle will stop at the destination
if (current_cmd.p1 > 0) {
return true;
}
// do not add next wp if there are no more navigation commands
AP_Mission::Mission_Command next_cmd;
if (!mission.get_next_nav_cmd(current_cmd.index+1, next_cmd)) {
return true;
}
// whether vehicle should stop at the target position depends upon the next command // whether vehicle should stop at the target position depends upon the next command
switch (temp_cmd.id) { switch (next_cmd.id) {
case MAV_CMD_NAV_WAYPOINT: case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS: case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME: case MAV_CMD_NAV_LOITER_TIME: {
case MAV_CMD_NAV_LAND: const Location dest_loc = loc_from_cmd(current_cmd, default_loc);
case MAV_CMD_NAV_SPLINE_WAYPOINT: const Location next_dest_loc = loc_from_cmd(next_cmd, dest_loc);
// if next command's lat, lon is specified then do not slowdown at this waypoint return wp_nav->set_wp_destination_next_loc(next_dest_loc);
if ((temp_cmd.content.location.lat != 0) || (temp_cmd.content.location.lng != 0)) {
fast_waypoint = true;
} }
break; case MAV_CMD_NAV_SPLINE_WAYPOINT: {
// get spline's location and next location from command and send to wp_nav
Location next_dest_loc, next_next_dest_loc;
bool next_next_dest_loc_is_spline;
get_spline_from_cmd(next_cmd, default_loc, next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
return wp_nav->set_spline_destination_next_loc(next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
}
case MAV_CMD_NAV_LAND:
// stop because we may change between rel,abs and terrain alt types
case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_NAV_RETURN_TO_LAUNCH:
// do not stop for RTL
fast_waypoint = true;
break;
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
// always stop for RTL and takeoff commands
default: default:
// always stop for takeoff commands
// for unsupported commands it is safer to stop // for unsupported commands it is safer to stop
break; break;
} }
copter.wp_nav->set_fast_waypoint(fast_waypoint);
} return true;
} }
// do_land - initiate landing procedure // do_land - initiate landing procedure
@ -1225,7 +1203,7 @@ void ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
// do_circle - initiate moving in a circle // do_circle - initiate moving in a circle
void ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd) void ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
{ {
const Location circle_center = loc_from_cmd(cmd); const Location circle_center = loc_from_cmd(cmd, copter.current_loc);
// calculate radius // calculate radius
uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1 uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
@ -1276,68 +1254,66 @@ void ModeAuto::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
pos_control->set_max_accel_z(wp_nav->get_accel_z()); pos_control->set_max_accel_z(wp_nav->get_accel_z());
pos_control->set_max_speed_z(wp_nav->get_default_speed_down(), pos_control->set_max_speed_z(wp_nav->get_default_speed_down(),
wp_nav->get_default_speed_up()); wp_nav->get_default_speed_up());
if (pos_control->is_active_z()) {
pos_control->freeze_ff_z();
}
} }
// do_spline_wp - initiate move to next waypoint // do_nav_wp - initiate move to next waypoint
void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd) void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd)
{ {
const Location target_loc = loc_from_cmd(cmd); // calculate default location used when lat, lon or alt is zero
Location default_loc = copter.current_loc;
if (wp_nav->is_active() && wp_nav->reached_wp_destination()) {
if (!wp_nav->get_wp_destination_loc(default_loc)) {
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
}
// get spline's location and next location from command and send to wp_nav
Location dest_loc, next_dest_loc;
bool next_dest_loc_is_spline;
get_spline_from_cmd(cmd, default_loc, dest_loc, next_dest_loc, next_dest_loc_is_spline);
if (!wp_nav->set_spline_destination_loc(dest_loc, next_dest_loc, next_dest_loc_is_spline)) {
// failure to set destination can only be because of missing terrain data
copter.failsafe_terrain_on_event();
return;
}
_mode = Auto_WP;
// this will be used to remember the time in millis after we reach or pass the WP. // this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0; loiter_time = 0;
// this is the delay, stored in seconds // this is the delay, stored in seconds
loiter_time_max = cmd.p1; loiter_time_max = cmd.p1;
// determine segment start and end type // set next destination if necessary
bool stopped_at_start = true; if (!set_next_wp(cmd, dest_loc)) {
AC_WPNav::spline_segment_end_type seg_end_type = AC_WPNav::SEGMENT_END_STOP; // failure to set next destination can only be because of missing terrain data
AP_Mission::Mission_Command temp_cmd; copter.failsafe_terrain_on_event();
return;
}
// if previous command was a wp_nav command with no delay set stopped_at_start to false // initialise yaw
// To-Do: move processing of delay into wp-nav controller to allow it to determine the stopped_at_start value itself? // To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
uint16_t prev_cmd_idx = mission.get_prev_nav_cmd_index(); if (auto_yaw.mode() != AUTO_YAW_ROI) {
if (prev_cmd_idx != AP_MISSION_CMD_INDEX_NONE) { auto_yaw.set_mode_to_default(false);
if (mission.read_cmd_from_storage(prev_cmd_idx, temp_cmd)) {
if ((temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) && temp_cmd.p1 == 0) {
stopped_at_start = false;
}
} }
} }
// get_spline_from_cmd - Calculates the spline type for a given spline waypoint mission command
void ModeAuto::get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline)
{
dest_loc = loc_from_cmd(cmd, default_loc);
// if there is no delay at the end of this segment get next nav command // if there is no delay at the end of this segment get next nav command
Location next_loc; AP_Mission::Mission_Command temp_cmd;
if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) { if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) {
next_loc = temp_cmd.content.location; next_dest_loc = loc_from_cmd(temp_cmd, dest_loc);
// default lat, lon to first waypoint's lat, lon next_dest_loc_is_spline = temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT;
if (next_loc.lat == 0 && next_loc.lng == 0) {
next_loc.lat = target_loc.lat;
next_loc.lng = target_loc.lng;
}
// default alt to first waypoint's alt but in next waypoint's alt frame
if (next_loc.alt == 0) {
int32_t next_alt;
if (target_loc.get_alt_cm(next_loc.get_alt_frame(), next_alt)) {
next_loc.set_alt_cm(next_alt, next_loc.get_alt_frame());
} else { } else {
// default to first waypoints altitude next_dest_loc = dest_loc;
next_loc.set_alt_cm(target_loc.alt, target_loc.get_alt_frame()); next_dest_loc_is_spline = false;
} }
} }
// if the next nav command is a waypoint set end type to spline or straight
if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT) {
seg_end_type = AC_WPNav::SEGMENT_END_STRAIGHT;
} else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) {
seg_end_type = AC_WPNav::SEGMENT_END_SPLINE;
}
}
// set spline navigation target
spline_start(target_loc, stopped_at_start, seg_end_type, next_loc);
}
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
// do_nav_guided_enable - initiate accepting commands from external nav computer // do_nav_guided_enable - initiate accepting commands from external nav computer

View File

@ -116,7 +116,7 @@ bool ModeGuided::do_user_takeoff_start(float takeoff_alt_cm)
} }
target_loc.set_alt_cm(takeoff_alt_cm, frame); target_loc.set_alt_cm(takeoff_alt_cm, frame);
if (!wp_nav->set_wp_destination(target_loc)) { if (!wp_nav->set_wp_destination_loc(target_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
@ -296,7 +296,7 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
pos_control_start(); pos_control_start();
} }
if (!wp_nav->set_wp_destination(dest_loc)) { if (!wp_nav->set_wp_destination_loc(dest_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK

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@ -123,14 +123,13 @@ void ModeRTL::climb_start()
} }
// set the destination // set the destination
if (!wp_nav->set_wp_destination(rtl_path.climb_target)) { if (!wp_nav->set_wp_destination_loc(rtl_path.climb_target) || !wp_nav->set_wp_destination_next_loc(rtl_path.return_target)) {
// this should not happen because rtl_build_path will have checked terrain data was available // this should not happen because rtl_build_path will have checked terrain data was available
gcs().send_text(MAV_SEVERITY_CRITICAL,"RTL: unexpected error setting climb target"); gcs().send_text(MAV_SEVERITY_CRITICAL,"RTL: unexpected error setting climb target");
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
copter.set_mode(Mode::Number::LAND, ModeReason::TERRAIN_FAILSAFE); copter.set_mode(Mode::Number::LAND, ModeReason::TERRAIN_FAILSAFE);
return; return;
} }
wp_nav->set_fast_waypoint(true);
// hold current yaw during initial climb // hold current yaw during initial climb
auto_yaw.set_mode(AUTO_YAW_HOLD); auto_yaw.set_mode(AUTO_YAW_HOLD);
@ -142,7 +141,7 @@ void ModeRTL::return_start()
_state = RTL_ReturnHome; _state = RTL_ReturnHome;
_state_complete = false; _state_complete = false;
if (!wp_nav->set_wp_destination(rtl_path.return_target)) { if (!wp_nav->set_wp_destination_loc(rtl_path.return_target)) {
// failure must be caused by missing terrain data, restart RTL // failure must be caused by missing terrain data, restart RTL
restart_without_terrain(); restart_without_terrain();
} }

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@ -92,24 +92,26 @@ void ModeSmartRTL::path_follow_run()
// if we are close to current target point, switch the next point to be our target. // if we are close to current target point, switch the next point to be our target.
if (wp_nav->reached_wp_destination()) { if (wp_nav->reached_wp_destination()) {
Vector3f next_point; Vector3f dest_NED;
// this pop_point can fail if the IO task currently has the // this pop_point can fail if the IO task currently has the
// path semaphore. // path semaphore.
if (g2.smart_rtl.pop_point(next_point)) { if (g2.smart_rtl.pop_point(dest_NED)) {
path_follow_last_pop_fail_ms = 0; path_follow_last_pop_fail_ms = 0;
if (g2.smart_rtl.get_num_points() == 0) { if (g2.smart_rtl.get_num_points() == 0) {
// this is the very last point, add 2m to the target alt and move to pre-land state // this is the very last point, add 2m to the target alt and move to pre-land state
next_point.z -= 2.0f; dest_NED.z -= 2.0f;
smart_rtl_state = SmartRTL_PreLandPosition; smart_rtl_state = SmartRTL_PreLandPosition;
wp_nav->set_wp_destination_NED(next_point); wp_nav->set_wp_destination_NED(dest_NED);
} else { } else {
// peek at the next point // peek at the next point
Vector3f next_next_point; Vector3f next_dest_NED;
if (g2.smart_rtl.peek_point(next_next_point)) { if (g2.smart_rtl.peek_point(next_dest_NED)) {
wp_nav->set_wp_destination_NED(next_point, next_next_point); wp_nav->set_wp_destination_NED(dest_NED);
wp_nav->set_wp_destination_next_NED(next_dest_NED);
} else { } else {
// this should never happen but send next point anyway // this should never happen but send next point anyway
wp_nav->set_wp_destination_NED(next_point); wp_nav->set_wp_destination_NED(dest_NED);
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
} }
} }
} else if (g2.smart_rtl.get_num_points() == 0) { } else if (g2.smart_rtl.get_num_points() == 0) {
@ -181,7 +183,7 @@ bool ModeSmartRTL::get_wp(Location& destination)
case SmartRTL_PathFollow: case SmartRTL_PathFollow:
case SmartRTL_PreLandPosition: case SmartRTL_PreLandPosition:
case SmartRTL_Descend: case SmartRTL_Descend:
return wp_nav->get_wp_destination(destination); return wp_nav->get_wp_destination_loc(destination);
case SmartRTL_Land: case SmartRTL_Land:
return false; return false;
} }

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@ -72,7 +72,7 @@ void Copter::tuning()
break; break;
case TUNING_THROTTLE_RATE_KP: case TUNING_THROTTLE_RATE_KP:
pos_control->get_vel_z_p().kP(tuning_value); pos_control->get_vel_z_pid().kP(tuning_value);
break; break;
case TUNING_ACCEL_Z_KP: case TUNING_ACCEL_Z_KP: