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Copter: support do_set_home command from GCS and mission

This commit is contained in:
Randy Mackay 2015-02-09 20:25:45 +09:00
parent d5fd6d2a99
commit 7029b11414
2 changed files with 29 additions and 11 deletions
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28
ArduCopter/GCS_Mavlink.pde
View File

@ -1111,6 +1111,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
break; break;
case MAV_CMD_DO_SET_HOME:
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude (absolute)
result = MAV_RESULT_FAILED; // assume failure
if(packet.param1 == 1 || (packet.param5 == 0 && packet.param6 == 0 && packet.param7 == 0)) {
if (set_home_to_current_location_and_lock()) {
result = MAV_RESULT_ACCEPTED;
}
} else {
Location new_home_loc;
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (!far_from_EKF_origin(new_home_loc)) {
if (set_home_and_lock(new_home_loc)) {
result = MAV_RESULT_ACCEPTED;
}
}
}
break;
case MAV_CMD_DO_SET_ROI: case MAV_CMD_DO_SET_ROI:
// param1 : regional of interest mode (not supported) // param1 : regional of interest mode (not supported)
// param2 : mission index/ target id (not supported) // param2 : mission index/ target id (not supported)
@ -1437,11 +1460,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
packet.time_usec/1000, packet.time_usec/1000,
loc, vel, 10, 0, true); loc, vel, 10, 0, true);
if (!ap.home_is_set) {
init_home();
}
// rad/sec // rad/sec
Vector3f gyros; Vector3f gyros;
gyros.x = packet.rollspeed; gyros.x = packet.rollspeed;

12
ArduCopter/commands_logic.pde
View File

@ -111,7 +111,7 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
break; break;
case MAV_CMD_DO_SET_HOME: // 179 case MAV_CMD_DO_SET_HOME: // 179
// unsupported as mission command do_set_home(cmd);
break; break;
case MAV_CMD_DO_SET_SERVO: case MAV_CMD_DO_SET_SERVO:
@ -864,12 +864,12 @@ static void do_change_speed(const AP_Mission::Mission_Command& cmd)
static void do_set_home(const AP_Mission::Mission_Command& cmd) static void do_set_home(const AP_Mission::Mission_Command& cmd)
{ {
if(cmd.p1 == 1) { if(cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
init_home(); set_home_to_current_location();
} else { } else {
Location loc = cmd.content.location; if (!far_from_EKF_origin(cmd.content.location)) {
ahrs.set_home(loc); set_home(cmd.content.location);
set_home_is_set(true); }
} }
} }