Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: integrated simpler init loiter from WP_Nav

Browse Source
This commit is contained in:
Randy Mackay 2014-01-18 12:00:04 +09:00 committed by Andrew Tridgell
parent 9fe4d883d0
commit aaa62eeb28
2 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/control_stabilize.pde
View File

@ -239,7 +239,7 @@ static bool loiter_init(bool ignore_checks)
if (GPS_ok() || ignore_checks) {
// set target to current position
// To-Do: supply zero velocity below?
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
wp_nav.init_loiter_target();
return true;
}else{
return false;
@ -255,7 +255,7 @@ static void loiter_run()
// if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) {
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
return;
@ -287,7 +287,7 @@ static void loiter_run()
// when landed reset targets and output zero throttle
if (ap.land_complete) {
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
wp_nav.init_loiter_target();
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
}else{

7
ArduCopter/navigation.pde
View File

@ -99,7 +99,7 @@ static bool set_nav_mode(uint8_t new_nav_mode)
case NAV_LOITER:
// set target to current position
wp_nav.init_loiter_target(inertial_nav.get_position(), inertial_nav.get_velocity());
wp_nav.init_loiter_target();
nav_initialised = true;
break;
@ -142,7 +142,7 @@ static void update_nav_mode()
case NAV_LOITER:
// reset target if we are still on the ground
if (ap.land_complete) {
wp_nav.init_loiter_target(inertial_nav.get_position(),inertial_nav.get_velocity());
wp_nav.init_loiter_target();
}else{
// call loiter controller
wp_nav.update_loiter();
@ -228,7 +228,8 @@ circle_set_center(const Vector3f current_position, float heading_in_radians)
circle_angular_velocity = 0;
// initialise loiter target. Note: feed forward velocity set to zero
wp_nav.init_loiter_target(current_position, Vector3f(0,0,0));
// To-Do: modify circle to use position controller and pass in zero velocity. Vector3f(0,0,0)
wp_nav.init_loiter_target();
}
// update_circle - circle position controller's main call which in turn calls loiter controller with updated target position