ArduCopter: enabled sending waypoints from a companion computer to ardupilot for copter and rover

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

ArduCopter/AP_ExternalControl_Copter.cpp

@@ -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();

ArduCopter/AP_ExternalControl_Copter.h

@@ -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.

ArduCopter/Copter.cpp

@@ -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)
 {

ArduCopter/Copter.h

@@ -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;