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APMrover2: use past_interval_finish_line and line_path_proportion from Location

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This commit is contained in:
Pierre Kancir 2019-04-12 10:23:03 +02:00 committed by Andrew Tridgell
parent 1854681e09
commit f91ffffca7
4 changed files with 4 additions and 4 deletions
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2
APMrover2/mode_auto.cpp
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@ -44,7 +44,7 @@ void ModeAuto::update()
_distance_to_destination = rover.current_loc.get_distance(_destination); _distance_to_destination = rover.current_loc.get_distance(_destination);
const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius; const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
// check if we've reached the destination // check if we've reached the destination
if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) { if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
// trigger reached // trigger reached
_reached_destination = true; _reached_destination = true;
} }

2
APMrover2/mode_guided.cpp
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@ -21,7 +21,7 @@ void ModeGuided::update()
_distance_to_destination = rover.current_loc.get_distance(_destination); _distance_to_destination = rover.current_loc.get_distance(_destination);
const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius; const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
// check if we've reached the destination // check if we've reached the destination
if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) { if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
_reached_destination = true; _reached_destination = true;
rover.gcs().send_mission_item_reached_message(0); rover.gcs().send_mission_item_reached_message(0);
} }

2
APMrover2/mode_rtl.cpp
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@ -28,7 +28,7 @@ void ModeRTL::update()
_distance_to_destination = rover.current_loc.get_distance(_destination); _distance_to_destination = rover.current_loc.get_distance(_destination);
const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius; const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
// check if we've reached the destination // check if we've reached the destination
if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) { if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
// trigger reached // trigger reached
_reached_destination = true; _reached_destination = true;
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination"); gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");

2
APMrover2/mode_smart_rtl.cpp
View File

@ -60,7 +60,7 @@ void ModeSmartRTL::update()
} }
// check if we've reached the next point // check if we've reached the next point
_distance_to_destination = rover.current_loc.get_distance(_destination); _distance_to_destination = rover.current_loc.get_distance(_destination);
if (_distance_to_destination <= rover.g.waypoint_radius || location_passed_point(rover.current_loc, _origin, _destination)) { if (_distance_to_destination <= rover.g.waypoint_radius || rover.current_loc.past_interval_finish_line(_origin, _destination)) {
_load_point = true; _load_point = true;
} }
// continue driving towards destination // continue driving towards destination