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https://github.com/ArduPilot/ardupilot
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Plane: move mode update_target_altitude to correct files
This commit is contained in:
Iampete1
Andrew Tridgell
parent
feece150c6
commit
4a21af22cb
@ -28,74 +28,6 @@ void Plane::adjust_altitude_target()
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control_mode->update_target_altitude();
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}
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// to be moved to mode_guided.cpp in a future PR, kept here to minimise diff
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void ModeGuided::update_target_altitude()
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{
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#if OFFBOARD_GUIDED == ENABLED
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if (((plane.guided_state.target_alt_time_ms != 0) || plane.guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
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// offboard altitude demanded
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uint32_t now = AP_HAL::millis();
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float delta = 1e-3f * (now - plane.guided_state.target_alt_time_ms);
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plane.guided_state.target_alt_time_ms = now;
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// determine delta accurately as a float
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float delta_amt_f = delta * plane.guided_state.target_alt_accel;
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// then scale x100 to match last_target_alt and convert to a signed int32_t as it may be negative
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int32_t delta_amt_i = (int32_t)(100.0 * delta_amt_f);
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Location temp {};
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temp.alt = plane.guided_state.last_target_alt + delta_amt_i; // ...to avoid floats here,
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if (is_positive(plane.guided_state.target_alt_accel)) {
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temp.alt = MIN(plane.guided_state.target_alt, temp.alt);
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} else {
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temp.alt = MAX(plane.guided_state.target_alt, temp.alt);
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}
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plane.guided_state.last_target_alt = temp.alt;
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plane.set_target_altitude_location(temp);
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plane.altitude_error_cm = plane.calc_altitude_error_cm();
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} else
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#endif // OFFBOARD_GUIDED == ENABLED
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{
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Mode::update_target_altitude();
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}
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}
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// to be moved to mode.cpp in a future PR, kept here to minimise diff
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void Mode::update_target_altitude()
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{
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Location target_location;
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if (plane.landing.is_flaring()) {
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// during a landing flare, use TECS_LAND_SINK as a target sink
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// rate, and ignores the target altitude
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plane.set_target_altitude_location(plane.next_WP_loc);
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} else if (plane.landing.is_on_approach()) {
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plane.landing.setup_landing_glide_slope(plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.target_altitude.offset_cm);
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plane.landing.adjust_landing_slope_for_rangefinder_bump(plane.rangefinder_state, plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.auto_state.wp_distance, plane.target_altitude.offset_cm);
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} else if (plane.landing.get_target_altitude_location(target_location)) {
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plane.set_target_altitude_location(target_location);
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#if HAL_SOARING_ENABLED
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} else if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.get_throttle_suppressed()) {
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// Reset target alt to current alt, to prevent large altitude errors when gliding.
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plane.set_target_altitude_location(plane.current_loc);
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plane.reset_offset_altitude();
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#endif
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} else if (plane.reached_loiter_target()) {
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// once we reach a loiter target then lock to the final
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// altitude target
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plane.set_target_altitude_location(plane.next_WP_loc);
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} else if (plane.target_altitude.offset_cm != 0 &&
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!plane.current_loc.past_interval_finish_line(plane.prev_WP_loc, plane.next_WP_loc)) {
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// control climb/descent rate
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plane.set_target_altitude_proportion(plane.next_WP_loc, 1.0f-plane.auto_state.wp_proportion);
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// stay within the range of the start and end locations in altitude
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plane.constrain_target_altitude_location(plane.next_WP_loc, plane.prev_WP_loc);
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} else {
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plane.set_target_altitude_location(plane.next_WP_loc);
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}
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plane.altitude_error_cm = plane.calc_altitude_error_cm();
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}
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/*
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setup for a gradual glide slope to the next waypoint, if appropriate
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*/
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@ -127,3 +127,40 @@ bool Mode::is_vtol_man_throttle() const
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#endif
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return false;
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}
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void Mode::update_target_altitude()
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{
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Location target_location;
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if (plane.landing.is_flaring()) {
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// during a landing flare, use TECS_LAND_SINK as a target sink
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// rate, and ignores the target altitude
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plane.set_target_altitude_location(plane.next_WP_loc);
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} else if (plane.landing.is_on_approach()) {
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plane.landing.setup_landing_glide_slope(plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.target_altitude.offset_cm);
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plane.landing.adjust_landing_slope_for_rangefinder_bump(plane.rangefinder_state, plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.auto_state.wp_distance, plane.target_altitude.offset_cm);
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} else if (plane.landing.get_target_altitude_location(target_location)) {
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plane.set_target_altitude_location(target_location);
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#if HAL_SOARING_ENABLED
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} else if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.get_throttle_suppressed()) {
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// Reset target alt to current alt, to prevent large altitude errors when gliding.
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plane.set_target_altitude_location(plane.current_loc);
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plane.reset_offset_altitude();
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#endif
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} else if (plane.reached_loiter_target()) {
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// once we reach a loiter target then lock to the final
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// altitude target
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plane.set_target_altitude_location(plane.next_WP_loc);
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} else if (plane.target_altitude.offset_cm != 0 &&
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!plane.current_loc.past_interval_finish_line(plane.prev_WP_loc, plane.next_WP_loc)) {
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// control climb/descent rate
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plane.set_target_altitude_proportion(plane.next_WP_loc, 1.0f-plane.auto_state.wp_proportion);
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// stay within the range of the start and end locations in altitude
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plane.constrain_target_altitude_location(plane.next_WP_loc, plane.prev_WP_loc);
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} else {
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plane.set_target_altitude_location(plane.next_WP_loc);
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}
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plane.altitude_error_cm = plane.calc_altitude_error_cm();
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}
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@ -64,3 +64,32 @@ void ModeGuided::set_radius_and_direction(const float radius, const bool directi
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active_radius_m = constrain_int32(fabsf(radius), 0, UINT16_MAX);
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plane.loiter.direction = direction_is_ccw ? -1 : 1;
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}
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void ModeGuided::update_target_altitude()
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{
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#if OFFBOARD_GUIDED == ENABLED
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if (((plane.guided_state.target_alt_time_ms != 0) || plane.guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
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// offboard altitude demanded
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uint32_t now = AP_HAL::millis();
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float delta = 1e-3f * (now - plane.guided_state.target_alt_time_ms);
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plane.guided_state.target_alt_time_ms = now;
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// determine delta accurately as a float
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float delta_amt_f = delta * plane.guided_state.target_alt_accel;
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// then scale x100 to match last_target_alt and convert to a signed int32_t as it may be negative
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int32_t delta_amt_i = (int32_t)(100.0 * delta_amt_f);
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Location temp {};
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temp.alt = plane.guided_state.last_target_alt + delta_amt_i; // ...to avoid floats here,
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if (is_positive(plane.guided_state.target_alt_accel)) {
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temp.alt = MIN(plane.guided_state.target_alt, temp.alt);
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} else {
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temp.alt = MAX(plane.guided_state.target_alt, temp.alt);
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}
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plane.guided_state.last_target_alt = temp.alt;
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plane.set_target_altitude_location(temp);
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plane.altitude_error_cm = plane.calc_altitude_error_cm();
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} else
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#endif // OFFBOARD_GUIDED == ENABLED
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{
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Mode::update_target_altitude();
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}
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}
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