Copter: remove loiter_nav from auto

ArduCopter/mode.cpp

@@ -696,14 +696,6 @@ void Mode::land_run_horizontal_control()
 #endif
 
     if (!copter.ap.prec_land_active) {
-        if (copter.ap.prec_land_active) {
-            // precland isn't active anymore but was active a while back
-            // lets run an init again
-            // set target to stopping point
-            Vector2f stopping_point;
-            loiter_nav->get_stopping_point_xy(stopping_point);
-            loiter_nav->init_target(stopping_point);
-        }
         Vector2f accel;
         pos_control->input_vel_accel_xy(vel_correction, accel);
     }

ArduCopter/mode.h

@@ -424,7 +424,6 @@ public:
     void takeoff_start(const Location& dest_loc);
     void wp_start(const Location& dest_loc);
     void land_start();
-    void land_start(const Vector2f& destination);
     void circle_movetoedge_start(const Location &circle_center, float radius_m);
     void circle_start();
     void nav_guided_start();
@@ -495,7 +494,6 @@ private:
 
     Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const;
 
-    void payload_place_start(const Vector2f& destination);
     void payload_place_run();
     bool payload_place_run_should_run();
     void payload_place_run_loiter();

ArduCopter/mode_auto.cpp

@@ -343,22 +343,21 @@ void ModeAuto::wp_start(const Location& dest_loc)
 
 // auto_land_start - initialises controller to implement a landing
 void ModeAuto::land_start()
-{
-    // set target to stopping point
-    Vector2f stopping_point;
-    loiter_nav->get_stopping_point_xy(stopping_point);
-
-    // call location specific land start function
-    land_start(stopping_point);
-}
-
-// auto_land_start - initialises controller to implement a landing
-void ModeAuto::land_start(const Vector2f& destination)
 {
     _mode = SubMode::LAND;
 
-    // initialise loiter target destination
+    // set horizontal speed and acceleration limits
-    loiter_nav->init_target(destination);
+    pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+    pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+
+    // initialise the vertical position controller
+    if (!pos_control->is_active_xy()) {
+        pos_control->init_xy_controller();
+    }
+
+    // set vertical speed and acceleration limits
+    pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
+    pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
 
     // initialise the vertical position controller
     if (!pos_control->is_active_z()) {
@@ -485,12 +484,29 @@ bool ModeAuto::is_taking_off() const
 // auto_payload_place_start - initialises controller to implement a placing
 void ModeAuto::payload_place_start()
 {
-    // set target to stopping point
+    _mode = SubMode::NAV_PAYLOAD_PLACE;
-    Vector2f stopping_point;
+    nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
-    loiter_nav->get_stopping_point_xy(stopping_point);
 
-    // call location specific place start function
+    // set horizontal speed and acceleration limits
-    payload_place_start(stopping_point);
+    pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+    pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+
+    // initialise the vertical position controller
+    if (!pos_control->is_active_xy()) {
+        pos_control->init_xy_controller();
+    }
+
+    // set vertical speed and acceleration limits
+    pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
+    pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
+
+    // initialise the vertical position controller
+    if (!pos_control->is_active_z()) {
+        pos_control->init_z_controller();
+    }
+
+    // initialise yaw
+    auto_yaw.set_mode(AUTO_YAW_HOLD);
 }
 
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
@@ -908,8 +924,6 @@ void ModeAuto::land_run()
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
         make_safe_ground_handling();
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
         return;
     }
 
@@ -1015,8 +1029,14 @@ void ModeAuto::loiter_to_alt_run()
     }
 
     if (!loiter_to_alt.loiter_start_done) {
-        loiter_nav->clear_pilot_desired_acceleration();
+        // set horizontal speed and acceleration limits
-        loiter_nav->init_target();
+        pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+        pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+
+        if (!pos_control->is_active_xy()) {
+            pos_control->init_xy_controller();
+        }
+
         _mode = SubMode::LOITER_TO_ALT;
         loiter_to_alt.loiter_start_done = true;
     }
@@ -1054,31 +1074,12 @@ void ModeAuto::loiter_to_alt_run()
     pos_control->update_z_controller();
 }
 
-// auto_payload_place_start - initialises controller to implement placement of a load
-void ModeAuto::payload_place_start(const Vector2f& destination)
-{
-    _mode = SubMode::NAV_PAYLOAD_PLACE;
-    nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
-
-    // initialise loiter target destination
-    loiter_nav->init_target(destination);
-
-    // initialise the vertical position controller
-    pos_control->init_z_controller();
-
-    // initialise yaw
-    auto_yaw.set_mode(AUTO_YAW_HOLD);
-}
-
 // auto_payload_place_run - places an object in auto mode
 //      called by auto_run at 100hz or more
 void ModeAuto::payload_place_run()
 {
     if (!payload_place_run_should_run()) {
         zero_throttle_and_relax_ac();
-        // set target to current position
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
         return;
     }
 
@@ -1409,6 +1410,7 @@ void ModeAuto::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
 
     // set vertical speed and acceleration limits
     pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
+    pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
 }
 
 // do_spline_wp - initiate move to next waypoint
@@ -1685,11 +1687,8 @@ bool ModeAuto::verify_land()
         case State::FlyToLocation:
             // check if we've reached the location
             if (copter.wp_nav->reached_wp_destination()) {
-                // get destination so we can use it for loiter target
-                const Vector2f& dest = copter.wp_nav->get_wp_destination().xy();
-
                 // initialise landing controller
-                land_start(dest);
+                land_start();
 
                 // advance to next state
                 state = State::Descending;

ArduCopter/mode_land.cpp

@@ -5,17 +5,19 @@ bool ModeLand::init(bool ignore_checks)
 {
     // check if we have GPS and decide which LAND we're going to do
     control_position = copter.position_ok();
-    if (control_position) {
+
-        // set target to stopping point
+    // set horizontal speed and acceleration limits
-        Vector2f stopping_point;
+    pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
-        loiter_nav->get_stopping_point_xy(stopping_point);
+    pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
-        loiter_nav->init_target(stopping_point);
+
+    // initialise the horizontal position controller
+    if (control_position && !pos_control->is_active_xy()) {
+        pos_control->init_xy_controller();
     }
 
     // set vertical speed and acceleration limits
     pos_control->set_max_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
     pos_control->set_correction_speed_accel_z(wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up(), wp_nav->get_accel_z());
-    pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
 
     // initialise the vertical position controller
     if (!pos_control->is_active_z()) {
@@ -76,8 +78,6 @@ void ModeLand::gps_run()
     // Land State Machine Determination
     if (is_disarmed_or_landed()) {
         make_safe_ground_handling();
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
     } else {
         // set motors to full range
         motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

ArduCopter/mode_rtl.cpp

@@ -273,9 +273,6 @@ void ModeRTL::descent_start()
     _state = SubMode::FINAL_DESCENT;
     _state_complete = false;
 
-    // Set wp navigation target to above home
-    loiter_nav->init_target(wp_nav->get_wp_destination().xy());
-
     // initialise altitude target to stopping point
     pos_control->init_z_controller_stopping_point();
 
@@ -363,8 +360,14 @@ void ModeRTL::land_start()
     _state = SubMode::LAND;
     _state_complete = false;
 
-    // Set wp navigation target to above home
+    // set horizontal speed and acceleration limits
-    loiter_nav->init_target(wp_nav->get_wp_destination().xy());
+    pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+    pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
+
+    // initialise loiter target destination
+    if (!pos_control->is_active_xy()) {
+        pos_control->init_xy_controller();
+    }
 
     // initialise the vertical position controller
     if (!pos_control->is_active_z()) {
@@ -405,8 +408,6 @@ void ModeRTL::land_run(bool disarm_on_land)
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
         make_safe_ground_handling();
-        loiter_nav->clear_pilot_desired_acceleration();
-        loiter_nav->init_target();
         return;
     }