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Rover: enabled sending waypoints from a companion computer to ardupilot for copter and rover 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
haarshitgarg 2024-05-01 13:43:49 -06:00 committed by Randy Mackay
parent a13639d9d8
commit 7701be8209
4 changed files with 22 additions and 4 deletions
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6
Rover/AP_ExternalControl_Rover.cpp
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@ -29,6 +29,12 @@ bool AP_ExternalControl_Rover::set_linear_velocity_and_yaw_rate(const Vector3f &
return true; return true;
} }
bool AP_ExternalControl_Rover::set_global_position(const Location& loc)
{
// set_target_location only checks if the rover is in guided mode or not
return rover.set_target_location(loc);
}
bool AP_ExternalControl_Rover::ready_for_external_control() bool AP_ExternalControl_Rover::ready_for_external_control()
{ {
return rover.control_mode->in_guided_mode() && rover.arming.is_armed(); return rover.control_mode->in_guided_mode() && rover.arming.is_armed();

9
Rover/AP_ExternalControl_Rover.h
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@ -7,7 +7,8 @@
#if AP_EXTERNAL_CONTROL_ENABLED #if AP_EXTERNAL_CONTROL_ENABLED
class AP_ExternalControl_Rover : public AP_ExternalControl { class AP_ExternalControl_Rover : public AP_ExternalControl
{
public: public:
/* /*
Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw. Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
@ -15,6 +16,12 @@ public:
Yaw is in earth frame, NED [rad/s]. Yaw is in earth frame, NED [rad/s].
*/ */
bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads)override WARN_IF_UNUSED; bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads)override WARN_IF_UNUSED;
/*
Sets the global position for loiter point
*/
bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
private: private:
/* /*
Return true if Rover is ready to handle external control data. Return true if Rover is ready to handle external control data.

6
Rover/Rover.cpp
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@ -157,8 +157,8 @@ Rover::Rover(void) :
{ {
} }
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
// set target location (for use by scripting) // set target location (for use by external control and scripting)
bool Rover::set_target_location(const Location& target_loc) bool Rover::set_target_location(const Location& target_loc)
{ {
// exit if vehicle is not in Guided mode or Auto-Guided mode // exit if vehicle is not in Guided mode or Auto-Guided mode
@ -168,7 +168,9 @@ bool Rover::set_target_location(const Location& target_loc)
return mode_guided.set_desired_location(target_loc); return mode_guided.set_desired_location(target_loc);
} }
#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
// set target velocity (for use by scripting) // set target velocity (for use by scripting)
bool Rover::set_target_velocity_NED(const Vector3f& vel_ned) bool Rover::set_target_velocity_NED(const Vector3f& vel_ned)
{ {

5
Rover/Rover.h
View File

@ -269,8 +269,11 @@ private:
cruise_learn_t cruise_learn; cruise_learn_t cruise_learn;
// Rover.cpp // Rover.cpp
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
bool set_target_location(const Location& target_loc) override; bool set_target_location(const Location& target_loc) override;
#endif
#if AP_SCRIPTING_ENABLED
bool set_target_velocity_NED(const Vector3f& vel_ned) override; bool set_target_velocity_NED(const Vector3f& vel_ned) override;
bool set_steering_and_throttle(float steering, float throttle) override; bool set_steering_and_throttle(float steering, float throttle) override;
bool get_steering_and_throttle(float& steering, float& throttle) override; bool get_steering_and_throttle(float& steering, float& throttle) override;