mirror of https://github.com/ArduPilot/ardupilot
Rover: remove next_WP, wp_distance, navigate
Also remove prev_WP, wp_totalDistance which are all handled within mode class
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@ -308,12 +308,6 @@ private:
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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uint32_t control_sensors_health;
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// Waypoint distances
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// Distance between rover and next waypoint. Meters
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float wp_distance;
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// Distance between previous and next waypoint. Meters
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int32_t wp_totalDistance;
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// Conditional command
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// Conditional command
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// A value used in condition commands (eg delay, change alt, etc.)
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// A value used in condition commands (eg delay, change alt, etc.)
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// For example in a change altitude command, it is the altitude to change to.
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// For example in a change altitude command, it is the altitude to change to.
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@ -336,11 +330,6 @@ private:
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// true if the compass's initial location has been set
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// true if the compass's initial location has been set
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bool compass_init_location;
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bool compass_init_location;
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// The location of the previous waypoint. Used for track following and altitude ramp calculations
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struct Location prev_WP;
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// The location of the current/active waypoint. Used for track following
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struct Location next_WP;
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// IMU variables
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// IMU variables
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// The main loop execution time. Seconds
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// The main loop execution time. Seconds
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// This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
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// This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
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@ -56,9 +56,6 @@ bool Rover::set_home(const Location& loc, bool lock)
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DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
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DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
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}
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}
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}
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}
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// initialise navigation to home
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next_WP = prev_WP = home;
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}
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}
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// lock home position
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// lock home position
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@ -76,7 +76,6 @@ void Rover::read_control_switch()
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}
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}
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oldSwitchPosition = switchPosition;
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oldSwitchPosition = switchPosition;
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prev_WP = current_loc;
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// reset speed integrator
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// reset speed integrator
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g.pidSpeedThrottle.reset_I();
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g.pidSpeedThrottle.reset_I();
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@ -1,23 +0,0 @@
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#include "Rover.h"
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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void Rover::navigate()
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{
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// do not navigate with corrupt data
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// ---------------------------------
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if (!have_position) {
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return;
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}
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if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)) {
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return;
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}
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// waypoint distance from rover
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// ----------------------------
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wp_distance = get_distance(current_loc, next_WP);
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}
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