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Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior 

Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
This commit is contained in:
Tom Pittenger 2015-08-24 03:06:24 -07:00 committed by Andrew Tridgell
parent 4771d19073
commit 6e55b44b63
2 changed files with 41 additions and 11 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -523,7 +523,9 @@ void Plane::handle_auto_mode(void)
default:
// we are doing normal AUTO flight, the special cases
// are for takeoff and landing
if (nav_cmd_id != MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT) {
steer_state.hold_course_cd = -1;
}
auto_state.land_complete = false;
calc_nav_roll();
calc_nav_pitch();

48
ArduPlane/commands_logic.cpp
View File

@ -376,6 +376,26 @@ void Plane::do_loiter_time(const AP_Mission::Mission_Command& cmd)
void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
{
// select heading method. Either mission, gps bearing projection or yaw based
// If prev_WP_loc and next_WP_loc are different then an accurate wp based bearing can
// be computed. However, if we had just changed modes before this, such as an aborted landing
// via mode change, the prev and next wps are the same.
float bearing;
if (!locations_are_same(prev_WP_loc, next_WP_loc)) {
// use waypoint based bearing, this is the usual case
steer_state.hold_course_cd = -1;
} else if (ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// use gps ground course based bearing hold
steer_state.hold_course_cd = -1;
bearing = ahrs.get_gps().ground_course_cd() * 0.01f;
location_update(next_WP_loc, bearing, 1000); // push it out 1km
} else {
// use yaw based bearing hold
steer_state.hold_course_cd = wrap_360_cd(ahrs.yaw_sensor);
bearing = ahrs.yaw_sensor * 0.01f;
location_update(next_WP_loc, bearing, 1000); // push it out 1km
}
next_WP_loc.alt = cmd.content.location.alt + home.alt;
condition_value = cmd.p1;
reset_offset_altitude();
@ -645,6 +665,24 @@ bool Plane::verify_RTL()
bool Plane::verify_continue_and_change_alt()
{
// is waypoint info not available and heading hold is?
if (locations_are_same(prev_WP_loc, next_WP_loc) &&
steer_state.hold_course_cd != -1) {
//keep flying the same course with fixed steering heading computed at start if cmd
nav_controller->update_heading_hold(steer_state.hold_course_cd);
}
else {
// Is the next_WP less than 200 m away?
if (get_distance(current_loc, next_WP_loc) < 200.0f) {
//push another 300 m down the line
int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
}
//keep flying the same course
nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
}
//climbing?
if (condition_value == 1 && adjusted_altitude_cm() >= next_WP_loc.alt) {
return true;
@ -659,16 +697,6 @@ bool Plane::verify_continue_and_change_alt()
return true;
}
// Is the next_WP less than 200 m away?
if (get_distance(current_loc, next_WP_loc) < 200.0f) {
//push another 300 m down the line
int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
}
//keep flying the same course
nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
return false;
}