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Copter: Allowing Terrain Following in Guided Mode 

Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
This commit is contained in:
Sachchit Vekaria 2020-02-16 15:12:31 +05:30 committed by Randy Mackay
parent 53fb333f0c
commit f6125b26e8
3 changed files with 6 additions and 4 deletions
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4
ArduCopter/GCS_Mavlink.cpp
View File

@ -1085,6 +1085,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
*/
Vector3f pos_neu_cm; // position (North, East, Up coordinates) in centimeters
bool terrain_alt = false;
if(!pos_ignore) {
// sanity check location
@ -1102,6 +1103,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
int32_t(packet.alt*100),
frame,
};
terrain_alt = (loc.get_alt_frame() == Location::AltFrame::ABOVE_TERRAIN);
if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
break;
}
@ -1124,7 +1126,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (!pos_ignore && vel_ignore && acc_ignore) {
copter.mode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative, terrain_alt);
}
break;

2
ArduCopter/mode.h
View File

@ -784,7 +784,7 @@ public:
bool requires_terrain_failsafe() const override { return true; }
void set_angle(const Quaternion &q, float climb_rate_cms, bool use_yaw_rate, float yaw_rate_rads);
bool set_destination(const Vector3f& destination, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
bool set_destination(const Vector3f& destination, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false, bool terrain_alt = false);
bool set_destination(const Location& dest_loc, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
bool get_wp(Location &loc) override;
void set_velocity(const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false, bool log_request = true);

4
ArduCopter/mode_guided.cpp
View File

@ -176,7 +176,7 @@ void ModeGuided::angle_control_start()
// guided_set_destination - sets guided mode's target destination
// Returns true if the fence is enabled and guided waypoint is within 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 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) {
@ -197,7 +197,7 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);
// no need to check return status because terrain data is not used
wp_nav->set_wp_destination(destination, false);
wp_nav->set_wp_destination(destination, terrain_alt);
// log target
copter.Log_Write_GuidedTarget(guided_mode, destination, Vector3f());