mirror of https://github.com/ArduPilot/ardupilot
Copter: add comments to auto_loiter
This commit is contained in:
parent
d7d8330303
commit
3296eb24b3
|
@ -421,8 +421,11 @@ void auto_nav_guided_run()
|
|||
}
|
||||
#endif // NAV_GUIDED
|
||||
|
||||
// auto_loiter_start - initialises loitering in auto mode
|
||||
// returns success/failure because this can be called by exit_mission
|
||||
bool auto_loiter_start()
|
||||
{
|
||||
// return failure if GPS is bad
|
||||
if (!GPS_ok()) {
|
||||
return false;
|
||||
}
|
||||
|
@ -430,18 +433,25 @@ bool auto_loiter_start()
|
|||
|
||||
Vector3f origin = inertial_nav.get_position();
|
||||
|
||||
// calculate stopping point
|
||||
Vector3f stopping_point;
|
||||
pos_control.get_stopping_point_xy(stopping_point);
|
||||
pos_control.get_stopping_point_z(stopping_point);
|
||||
|
||||
// initialise waypoint controller target to stopping point
|
||||
wp_nav.set_wp_origin_and_destination(origin, stopping_point);
|
||||
|
||||
// hold yaw at current heading
|
||||
set_auto_yaw_mode(AUTO_YAW_HOLD);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void auto_loiter_run() {
|
||||
// auto_loiter_run - loiter in AUTO flight mode
|
||||
// called by auto_run at 100hz or more
|
||||
void auto_loiter_run()
|
||||
{
|
||||
// if not auto armed set throttle to zero and exit immediately
|
||||
if(!ap.auto_armed || ap.land_complete) {
|
||||
attitude_control.relax_bf_rate_controller();
|
||||
attitude_control.set_yaw_target_to_current_heading();
|
||||
|
@ -449,11 +459,13 @@ void auto_loiter_run() {
|
|||
return;
|
||||
}
|
||||
|
||||
// accept pilot input of yaw
|
||||
float target_yaw_rate = 0;
|
||||
if(!failsafe.radio) {
|
||||
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
|
||||
}
|
||||
|
||||
// run waypoint and z-axis postion controller
|
||||
wp_nav.update_wpnav();
|
||||
pos_control.update_z_controller();
|
||||
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
|
||||
|
|
Loading…
Reference in New Issue