Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: change function from computing return altitude to computing return target 

Also fix altitude for rally points
This commit is contained in:
Francisco Ferreira 2016-06-16 16:13:57 +01:00 committed by Randy Mackay
parent e732cda577
commit 43ad1f372d
2 changed files with 27 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Copter.h
View File

@ -868,7 +868,7 @@ private:
void rtl_land_start();
void rtl_land_run();
void rtl_build_path(bool terrain_following_allowed);
void rtl_compute_return_alt(bool terrain_following_allowed);
void rtl_compute_return_target(bool terrain_following_allowed);
bool sport_init(bool ignore_checks);
void sport_run();
bool stabilize_init(bool ignore_checks);

37
ArduCopter/control_rtl.cpp
View File

@ -404,15 +404,8 @@ void Copter::rtl_build_path(bool terrain_following_allowed)
rtl_path.origin_point = Location_Class(stopping_point);
rtl_path.origin_point.change_alt_frame(Location_Class::ALT_FRAME_ABOVE_HOME);
// set return target to nearest rally point or home position
#if AC_RALLY == ENABLED
rtl_path.return_target = rally.calc_best_rally_or_home_location(current_loc, ahrs.get_home().alt);
#else
rtl_path.return_target = ahrs.get_home();
#endif
// compute return altitude
rtl_compute_return_alt(terrain_following_allowed);
// compute return target
rtl_compute_return_target(terrain_following_allowed);
// climb target is above our origin point at the return altitude
rtl_path.climb_target = Location_Class(rtl_path.origin_point.lat, rtl_path.origin_point.lng, rtl_path.return_target.alt, rtl_path.return_target.get_alt_frame());
@ -424,10 +417,26 @@ void Copter::rtl_build_path(bool terrain_following_allowed)
rtl_path.land = g.rtl_alt_final <= 0;
}
// return altitude in cm above home at which vehicle should return home
// compute the return target - home or rally point
// return altitude in cm above home at which vehicle should return home
// return target's altitude is updated to a higher altitude that the vehicle can safely return at (frame may also be set)
void Copter::rtl_compute_return_alt(bool terrain_following_allowed)
void Copter::rtl_compute_return_target(bool terrain_following_allowed)
{
// set return target to nearest rally point or home position
#if AC_RALLY == ENABLED
RallyLocation rallyLoc;
Location_Class home(ahrs.get_home());
bool use_home = !rally.find_nearest_rally_point(current_loc, rallyLoc);
if (!use_home) {
rtl_path.return_target = Location_Class(rallyLoc.lat, rallyLoc.lng, home.alt, home.get_alt_frame());
} else {
rtl_path.return_target = home;
}
#else
rtl_path.return_target = ahrs.get_home();
#endif
float rtl_return_dist_cm = rtl_path.return_target.get_distance(rtl_path.origin_point) * 100.0f;
// curr_alt is current altitude above home or above terrain depending upon use_terrain
@ -454,6 +463,12 @@ void Copter::rtl_compute_return_alt(bool terrain_following_allowed)
ret = MAX(curr_alt, MIN(ret, MAX(rtl_return_dist_cm*g.rtl_cone_slope, curr_alt+RTL_ABS_MIN_CLIMB)));
}
#if AC_RALLY == ENABLED
if (!use_home) {
ret = rallyLoc.alt * 100.0f;
}
#endif
#if AC_FENCE == ENABLED
// ensure not above fence altitude if alt fence is enabled
// Note: we are assuming the fence alt is the same frame as ret