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ArduCopter: 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 54d117b84b
commit a13639d9d8
4 changed files with 38 additions and 13 deletions
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9
ArduCopter/AP_ExternalControl_Copter.cpp
View File

@ -29,6 +29,15 @@ bool AP_ExternalControl_Copter::set_linear_velocity_and_yaw_rate(const Vector3f
return true;
}
bool AP_ExternalControl_Copter::set_global_position(const Location& loc)
{
// Check if copter is ready for external control and returns false if it is not.
if (!ready_for_external_control()) {
return false;
}
return copter.set_target_location(loc);
}
bool AP_ExternalControl_Copter::ready_for_external_control()
{
return copter.flightmode->in_guided_mode() && copter.motors->armed();

8
ArduCopter/AP_ExternalControl_Copter.h
View File

@ -7,7 +7,8 @@
#if AP_EXTERNAL_CONTROL_ENABLED
class AP_ExternalControl_Copter : public AP_ExternalControl {
class AP_ExternalControl_Copter : public AP_ExternalControl
{
public:
/*
Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
@ -15,6 +16,11 @@ public:
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;
/*
Sets the target global position for a loiter point.
*/
bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
private:
/*
Return true if Copter is ready to handle external control data.

27
ArduCopter/Copter.cpp
View File

@ -272,6 +272,22 @@ void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
constexpr int8_t Copter::_failsafe_priorities[7];
#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
// set target location (for use by external control and scripting)
bool Copter::set_target_location(const Location& target_loc)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
return mode_guided.set_destination(target_loc);
}
#endif //MODE_GUIDED_ENABLED == ENABLED
#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
// start takeoff to given altitude (for use by scripting)
@ -289,17 +305,6 @@ bool Copter::start_takeoff(float alt)
return false;
}
// set target location (for use by scripting)
bool Copter::set_target_location(const Location& target_loc)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!flightmode->in_guided_mode()) {
return false;
}
return mode_guided.set_destination(target_loc);
}
// set target position (for use by scripting)
bool Copter::set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt)
{

7
ArduCopter/Copter.h
View File

@ -666,10 +666,15 @@ private:
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
uint8_t &task_count,
uint32_t &log_bit) override;
#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
bool set_target_location(const Location& target_loc) override;
#endif // MODE_GUIDED_ENABLED == ENABLED
#endif // AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
#if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED
bool start_takeoff(float alt) override;
bool set_target_location(const Location& target_loc) override;
bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;
bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) override;