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Rover: navigate-to-waypoint leaves simple avoidance to position controller

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also navigate-to-waypoint may trigger tacking
This commit is contained in:
Randy Mackay 2022-01-11 16:50:13 +09:00
parent aea6b48d70
commit f7a33a8900
1 changed files with 8 additions and 1 deletions
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9
Rover/mode.cpp
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@ -431,8 +431,15 @@ void Mode::navigate_to_waypoint()
g2.wp_nav.update(rover.G_Dt); g2.wp_nav.update(rover.G_Dt);
_distance_to_destination = g2.wp_nav.get_distance_to_destination(); _distance_to_destination = g2.wp_nav.get_distance_to_destination();
// sailboats trigger tack if simple avoidance becomes active
if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) {
// we are a sailboat trying to avoid fence, try a tack
rover.control_mode->handle_tack_request();
}
// pass desired speed to throttle controller // pass desired speed to throttle controller
calc_throttle(g2.wp_nav.get_speed(), true); // do not do simple avoidance because this is already handled in the position controller
calc_throttle(g2.wp_nav.get_speed(), false);
float desired_heading_cd = g2.wp_nav.oa_wp_bearing_cd(); float desired_heading_cd = g2.wp_nav.oa_wp_bearing_cd();
if (g2.sailboat.use_indirect_route(desired_heading_cd)) { if (g2.sailboat.use_indirect_route(desired_heading_cd)) {