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Rover: support SET_GPS_GLOBAL_ORIGIN message

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This commit is contained in:
Randy Mackay 2017-09-18 14:37:37 +09:00
parent a477ef7cd6
commit 894bf2a23f
3 changed files with 52 additions and 3 deletions
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21
APMrover2/GCS_Mavlink.cpp
View File

@ -643,6 +643,23 @@ void GCS_MAVLINK_Rover::handle_change_alt_request(AP_Mission::Mission_Command &c
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
{
mavlink_set_gps_global_origin_t packet;
mavlink_msg_set_gps_global_origin_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.latitude, packet.longitude)) {
break;
}
Location ekf_origin {};
ekf_origin.lat = packet.latitude;
ekf_origin.lng = packet.longitude;
ekf_origin.alt = packet.altitude / 10;
rover.set_ekf_origin(ekf_origin);
break;
}
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
handle_request_data_stream(msg, true);
@ -829,6 +846,10 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
case MAV_CMD_GET_HOME_POSITION:
if (rover.home_is_set != HOME_UNSET) {
send_home(rover.ahrs.get_home());
Location ekf_origin;
if (rover.ahrs.get_origin(ekf_origin)) {
send_ekf_origin(ekf_origin);
}
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;

1
APMrover2/Rover.h
View File

@ -451,6 +451,7 @@ private:
void update_home_from_EKF();
bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock);
void set_ekf_origin(const Location& loc);
void set_system_time_from_GPS();
void update_home();

33
APMrover2/commands.cpp
View File

@ -35,10 +35,10 @@ bool Rover::set_home(const Location& loc, bool lock)
return false;
}
// set EKF origin to home if it hasn't been set yet
// check if EKF origin has been set
Location ekf_origin;
if (!ahrs.get_origin(ekf_origin)) {
ahrs.set_origin(loc);
return false;
}
// set ahrs home
@ -69,8 +69,9 @@ bool Rover::set_home(const Location& loc, bool lock)
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
// send new home location to GCS
// send new home and ekf origin to GCS
gcs().send_home(loc);
gcs().send_ekf_origin(loc);
// send text of home position to ground stations
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %.2fm",
@ -82,6 +83,32 @@ bool Rover::set_home(const Location& loc, bool lock)
return true;
}
// sets ekf_origin if it has not been set.
// should only be used when there is no GPS to provide an absolute position
void Rover::set_ekf_origin(const Location& loc)
{
// check location is valid
if (!check_latlng(loc)) {
return;
}
// check if EKF origin has already been set
Location ekf_origin;
if (ahrs.get_origin(ekf_origin)) {
return;
}
if (!ahrs.set_origin(loc)) {
return;
}
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
// send ekf origin to GCS
gcs().send_ekf_origin(loc);
}
// checks if we should update ahrs/RTL home position from GPS
void Rover::set_system_time_from_GPS()
{