mirror of https://github.com/ArduPilot/ardupilot
Toy Mode: removed virtual WP, copter now just goes into auto_loiter when not holding the sticks.
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@ -700,18 +700,9 @@ void roll_pitch_toy()
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{
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bool manual_control = false;
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if(g.rc_2.control_in != 0){ // pitch
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if(g.rc_2.control_in != 0){
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// If we pitch forward or back, resume manually control
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manual_control = true;
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}else if(g.rc_1.control_in != 0){ // Roll/Yaw combo
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// we have some user input
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if(wp_control == TOY_MODE){
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// we are heading to Virtual WP
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manual_control = true;
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}else{
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// we are in manual control
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manual_control = false;
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}
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}
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// Yaw control - Yaw is always available, and will NOT exit the
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@ -732,6 +723,7 @@ void roll_pitch_toy()
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// We manually set out modes based on the state of Toy mode:
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// Handle throttle manually
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throttle_mode = THROTTLE_MANUAL;
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// Dont try to navigate or integrate a nav error
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wp_control = NO_NAV_MODE;
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@ -768,55 +760,33 @@ void roll_pitch_toy()
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}else{
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//no user input
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// Hold current Yaw
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g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
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// Count-up to decision - Loiter or Virtual WP
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// Count-up to decision tp Loiter
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toy_input_timer++;
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if (toy_input_timer == TOY_DELAY){
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//if (toy_input_timer == TOY_DELAY){
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if((wp_control != LOITER_MODE) && ((g_gps->ground_speed < 150) || (toy_input_timer == TOY_DELAY))){
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// clear our I terms for Nav or we will carry over old values
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reset_wind_I();
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// loiter
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wp_control = LOITER_MODE;
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if (g_gps->ground_speed < 200) {
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// loiter
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wp_control = LOITER_MODE;
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set_next_WP(¤t_loc);
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}else{
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// hold velocity and
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// calc a new WP 10000cm ahead (Approximate)
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struct Location tmp;
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tmp.lng = current_loc.lng + (10000 * cos_yaw_x); // X or East/West
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tmp.lat = current_loc.lat + (10000 * sin_yaw_y); // Y or North/South
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tmp.alt = current_loc.alt;
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set_next_WP(&tmp);
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// A special navigation mode for Toy mode that maintains the entry speed
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wp_control = TOY_MODE;
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// Save our speed as we entered the mode
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toy_speed = g_gps->ground_speed;
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}
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// Just level out until we hit 1.5s
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g.rc_1.servo_out = get_stabilize_roll(0);
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g.rc_2.servo_out = get_stabilize_pitch(0);
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}else if (toy_input_timer > TOY_DELAY){
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// we are in an alt hold throttle with manual override
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throttle_mode = THROTTLE_HOLD;
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// resets so we don't overflow the timer
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toy_input_timer = TOY_DELAY;
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throttle_mode = THROTTLE_HOLD;
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set_next_WP(¤t_loc);
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}
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if (wp_control == LOITER_MODE){
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// prevent timer overflow
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toy_input_timer = TOY_DELAY;
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// outputs the needed nav_control to maintain speed and direction
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g.rc_1.servo_out = get_stabilize_roll(auto_roll);
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g.rc_2.servo_out = get_stabilize_pitch(auto_pitch);
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}else{
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// outputs the needed nav_control to maintain speed and direction
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// Coast
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g.rc_1.servo_out = get_stabilize_roll(0);
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g.rc_2.servo_out = get_stabilize_pitch(0);
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}
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