Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: sets SmartRTL home after ahrs home is set

Browse Source 
Now uses AP_SmartRTL::set_home. It is called when arming and when GCS
requests home to be set to the current location
This commit is contained in:
Dylan Herman 2018-01-15 11:11:14 -05:00 committed by Randy Mackay
parent 85e1f9f9f6
commit 3edaff0309
2 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
APMrover2/commands.cpp
View File

@ -18,7 +18,12 @@ bool Rover::set_home_to_current_location(bool lock)
// use position from EKF if available otherwise use GPS
Location temp_loc;
if (ahrs.have_inertial_nav() && ahrs.get_position(temp_loc)) {
return set_home(temp_loc, lock);
if (!set_home(temp_loc, lock)) {
return false;
}
// we have successfully set AHRS home, set it for SmartRTL
g2.smart_rtl.set_home(true);
return true;
}
return false;
}

6
APMrover2/system.cpp
View File

@ -331,8 +331,8 @@ bool Rover::arm_motors(AP_Arming::ArmingMethod method)
return false;
}
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
g2.smart_rtl.reset_path(true);
// Set the SmartRTL home location. If activated, SmartRTL will ultimately try to land at this point
g2.smart_rtl.set_home(true);
change_arm_state();
return true;
@ -360,7 +360,7 @@ bool Rover::disarm_motors(void)
// save current position for use by the smart_rtl mode
void Rover::smart_rtl_update()
{
const bool save_position = hal.util->get_soft_armed() && (control_mode != &mode_smartrtl);
const bool save_position = (control_mode != &mode_smartrtl);
mode_smartrtl.save_position(save_position);
}