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Copter: guided mode checks dest before changing submode

This commit is contained in:
Randy Mackay 2020-09-08 15:16:14 +09:00
parent ca95e7865a
commit ab54f8805a
1 changed files with 15 additions and 15 deletions
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30
ArduCopter/mode_guided.cpp
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@ -190,11 +190,6 @@ void ModeGuided::angle_control_start()
// else return false if the waypoint is outside the fence // else return false if the waypoint is outside the fence
bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool terrain_alt) bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool terrain_alt)
{ {
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
pos_control_start();
}
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination); const Location dest_loc(destination);
@ -205,6 +200,11 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
} }
#endif #endif
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
pos_control_start();
}
// set yaw state // set yaw state
set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw); set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);
@ -229,11 +229,6 @@ bool ModeGuided::get_wp(Location& destination)
// or if the fence is enabled and guided waypoint is outside the fence // or if the fence is enabled and guided waypoint is outside the fence
bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw) bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{ {
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
pos_control_start();
}
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// reject destination outside the fence. // reject destination outside the fence.
// Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
@ -244,6 +239,11 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
} }
#endif #endif
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
pos_control_start();
}
if (!wp_nav->set_wp_destination(dest_loc)) { if (!wp_nav->set_wp_destination(dest_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
@ -283,11 +283,6 @@ void ModeGuided::set_velocity(const Vector3f& velocity, bool use_yaw, float yaw_
// set guided mode posvel target // set guided mode posvel target
bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vector3f& velocity, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw) bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vector3f& velocity, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{ {
// check we are in velocity control mode
if (guided_mode != Guided_PosVel) {
posvel_control_start();
}
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination); const Location dest_loc(destination);
@ -298,6 +293,11 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
} }
#endif #endif
// check we are in velocity control mode
if (guided_mode != Guided_PosVel) {
posvel_control_start();
}
// set yaw state // set yaw state
set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw); set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);