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Rover: add Auto_Stop state and use for Nav_Delay

This commit is contained in:
Randy Mackay 2019-08-14 11:26:11 +09:00 committed by Tom Pittenger
parent 1bb332382c
commit 6c3ce521c7
2 changed files with 25 additions and 9 deletions
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5
APMrover2/mode.h
View File

@ -283,7 +283,8 @@ protected:
Auto_HeadingAndSpeed, // turn to a given heading
Auto_RTL, // perform RTL within auto mode
Auto_Loiter, // perform Loiter within auto mode
Auto_Guided // handover control to external navigation system from within auto mode
Auto_Guided, // handover control to external navigation system from within auto mode
Auto_Stop // stop the vehicle as quickly as possible
} _submode;
private:
@ -291,6 +292,7 @@ private:
bool check_trigger(void);
bool start_loiter();
void start_guided(const Location& target_loc);
void start_stop();
void send_guided_position_target();
bool start_command(const AP_Mission::Mission_Command& cmd);
@ -351,7 +353,6 @@ private:
// Delay the next navigation command
uint32_t nav_delay_time_max_ms; // used for delaying the navigation commands
uint32_t nav_delay_time_start_ms;
AutoSubMode nav_delay_submode_backup; // back up sub_mode
};

27
APMrover2/mode_auto.cpp
View File

@ -97,6 +97,10 @@ void ModeAuto::update()
rover.mode_guided.update();
break;
}
case Auto_Stop:
stop_vehicle();
break;
}
}
@ -117,6 +121,7 @@ float ModeAuto::get_distance_to_destination() const
case Auto_WP:
return _distance_to_destination;
case Auto_HeadingAndSpeed:
case Auto_Stop:
// no valid distance so return zero
return 0.0f;
case Auto_RTL:
@ -142,6 +147,7 @@ bool ModeAuto::get_desired_location(Location& destination) const
}
return false;
case Auto_HeadingAndSpeed:
case Auto_Stop:
// no desired location for this submode
return false;
case Auto_RTL:
@ -177,6 +183,7 @@ bool ModeAuto::reached_destination() const
return g2.wp_nav.reached_destination();
break;
case Auto_HeadingAndSpeed:
case Auto_Stop:
// always return true because this is the safer option to allow missions to continue
return true;
break;
@ -295,6 +302,12 @@ void ModeAuto::start_guided(const Location& loc)
}
}
// start stopping vehicle as quickly as possible
void ModeAuto::start_stop()
{
_submode = Auto_Stop;
}
// send latest position target to offboard navigation system
void ModeAuto::send_guided_position_target()
{
@ -550,11 +563,14 @@ void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
nav_delay_time_start_ms = millis();
// act like we're just doing a heading hold that we instantly achieve.
// the behavior of this will put a boat into loiter, else stop
nav_delay_submode_backup = _submode;
_submode = Auto_HeadingAndSpeed;
_reached_heading = true;
// boats loiter, cars and balancebots stop
if (rover.is_boat()) {
if (!start_loiter()) {
start_stop();
}
} else {
start_stop();
}
if (cmd.content.nav_delay.seconds > 0) {
// relative delay
@ -634,7 +650,6 @@ bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (millis() - nav_delay_time_start_ms > nav_delay_time_max_ms) {
nav_delay_time_max_ms = 0;
_submode = nav_delay_submode_backup;
return true;
}