Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_SmartRTL: Add option to ignore pilot yaw

This commit is contained in:
Gone4Dirt 2021-02-09 08:59:57 +00:00 committed by Randy Mackay
parent 1e1be590e2
commit d928b80629
2 changed files with 24 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_SmartRTL/AP_SmartRTL.cpp
View File

@ -36,6 +36,13 @@ const AP_Param::GroupInfo AP_SmartRTL::var_info[] = {
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("POINTS", 1, AP_SmartRTL, _points_max, SMARTRTL_POINTS_DEFAULT), AP_GROUPINFO("POINTS", 1, AP_SmartRTL, _points_max, SMARTRTL_POINTS_DEFAULT),
// @Param: OPTIONS
// @DisplayName: SmartRTL options
// @Description: Bitmask of SmartRTL options.
// @Bitmask: 2:Ignore pilot yaw
// @User: Standard
AP_GROUPINFO("OPTIONS", 2, AP_SmartRTL, _options, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -861,3 +868,10 @@ bool AP_SmartRTL::loops_overlap(const prune_loop_t &loop1, const prune_loop_t &l
// if we got here, no overlap // if we got here, no overlap
return false; return false;
} }
// returns true if pilot's yaw input should be used to adjust vehicle's heading
bool AP_SmartRTL::use_pilot_yaw(void) const
{
return (_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
}

10
libraries/AP_SmartRTL/AP_SmartRTL.h
View File

@ -74,6 +74,9 @@ public:
// run background cleanup - should be run regularly from the IO thread // run background cleanup - should be run regularly from the IO thread
void run_background_cleanup(); void run_background_cleanup();
// returns true if pilot's yaw input should be used to adjust vehicle's heading
bool use_pilot_yaw(void) const;
// parameter var table // parameter var table
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -94,6 +97,12 @@ private:
SRTL_DEACTIVATED_PROGRAM_ERROR, SRTL_DEACTIVATED_PROGRAM_ERROR,
}; };
// enum for SRTL_OPTIONS parameter
enum class Options : int32_t {
// bits 1 and 2 are still available, pilot yaw was mapped to bit 2 for symmetry with auto
IgnorePilotYaw = (1U << 2),
};
// add point to end of path // add point to end of path
bool add_point(const Vector3f& point); bool add_point(const Vector3f& point);
@ -164,6 +173,7 @@ private:
// parameters // parameters
AP_Float _accuracy; AP_Float _accuracy;
AP_Int16 _points_max; AP_Int16 _points_max;
AP_Int32 _options;
// SmartRTL State Variables // SmartRTL State Variables
bool _active; // true if SmartRTL is usable. may become unusable if the path becomes too long to keep in memory, and too convoluted to be cleaned up, SmartRTL will be permanently deactivated (for the remainder of the flight) bool _active; // true if SmartRTL is usable. may become unusable if the path becomes too long to keep in memory, and too convoluted to be cleaned up, SmartRTL will be permanently deactivated (for the remainder of the flight)