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Plane: allow for negative WP_LOITER_RAD for conter-clockwise loiter

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this follows the same convention as missions
This commit is contained in:
Andrew Tridgell 2013-04-14 22:04:25 +10:00
parent d01d754ba8
commit 994d8e354a
4 changed files with 18 additions and 9 deletions
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8
ArduPlane/GCS_Mavlink.pde
View File

@ -1301,9 +1301,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_NAV_LOITER_TIME: case MAV_CMD_NAV_LOITER_TIME:
case MAV_CMD_NAV_LOITER_TURNS: case MAV_CMD_NAV_LOITER_TURNS:
if (tell_command.options & MASK_OPTIONS_LOITER_DIRECTION) { if (tell_command.options & MASK_OPTIONS_LOITER_DIRECTION) {
param3 = -g.loiter_radius; param3 = -abs(g.loiter_radius);
} else { } else {
param3 = g.loiter_radius; param3 = abs(g.loiter_radius);
} }
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_HOME:
@ -1312,9 +1312,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
if (tell_command.options & MASK_OPTIONS_LOITER_DIRECTION) { if (tell_command.options & MASK_OPTIONS_LOITER_DIRECTION) {
param3 = -g.loiter_radius;; param3 = -abs(g.loiter_radius);
} else { } else {
param3 = g.loiter_radius; param3 = abs(g.loiter_radius);
} }
break; break;
case MAV_CMD_CONDITION_CHANGE_ALT: case MAV_CMD_CONDITION_CHANGE_ALT:

2
ArduPlane/Parameters.pde
View File

@ -184,7 +184,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: WP_LOITER_RAD // @Param: WP_LOITER_RAD
// @DisplayName: Waypoint Loiter Radius // @DisplayName: Waypoint Loiter Radius
// @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.
// @Units: Meters // @Units: Meters
// @Range: 1 32767 // @Range: 1 32767
// @Increment: 1 // @Increment: 1

15
ArduPlane/commands_logic.pde
View File

@ -230,7 +230,12 @@ static void do_RTL(void)
control_mode = RTL; control_mode = RTL;
crash_timer = 0; crash_timer = 0;
next_WP = home; next_WP = home;
loiter_direction = 1;
if (g.loiter_radius < 0) {
loiter_direction = -1;
} else {
loiter_direction = 1;
}
// Altitude to hold over home // Altitude to hold over home
// Set by configuration tool // Set by configuration tool
@ -268,7 +273,7 @@ static void loiter_set_direction_wp(const struct Location *nav_command)
if (nav_command->options & MASK_OPTIONS_LOITER_DIRECTION) { if (nav_command->options & MASK_OPTIONS_LOITER_DIRECTION) {
loiter_direction = -1; loiter_direction = -1;
} else { } else {
loiter_direction=1; loiter_direction = 1;
} }
} }
@ -507,7 +512,11 @@ static bool verify_within_distance()
static void do_loiter_at_location() static void do_loiter_at_location()
{ {
loiter_direction = 1; if (g.loiter_radius < 0) {
loiter_direction = -1;
} else {
loiter_direction = 1;
}
next_WP = current_loc; next_WP = current_loc;
} }

2
ArduPlane/navigation.pde
View File

@ -142,6 +142,6 @@ static void calc_altitude_error()
static void update_loiter() static void update_loiter()
{ {
nav_controller->update_loiter(next_WP, g.loiter_radius, loiter_direction); nav_controller->update_loiter(next_WP, abs(g.loiter_radius), loiter_direction);
} }