ardupilot/ArduCopter/commands.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* the home_state has a number of possible values (see enum HomeState in defines.h's)
* HOME_UNSET = home is not set, no GPS positions yet received
* HOME_SET_NOT_LOCKED = home is set to EKF origin or armed location (can be moved)
* HOME_SET_AND_LOCKED = home has been set by user, cannot be moved except by user initiated do-set-home command
*/
static uint8_t ground_start_count = 10; // counter used to grab at least 10 reads before accepting a GPS location as home location
// checks if we should update ahrs/RTL home position from GPS
static void update_home_from_GPS()
{
// exit immediately if counter has run down and home already set
if (ground_start_count == 0 && ap.home_state != HOME_UNSET) {
return;
}
// if counter has not run down
if (ground_start_count > 0) {
// reset counter if we do not have GPS lock
if (gps.status() < AP_GPS::GPS_OK_FIX_3D) {
ground_start_count = 10;
// count down for 10 consecutive locks
} else {
ground_start_count--;
}
return;
}
// move home to current gps location (this will set home_state to HOME_SET)
set_home(gps.location());
}
// set_home_to_current_location - set home to current GPS location
static bool set_home_to_current_location() {
// exit with failure if we haven't had 10 good GPS position
if (ground_start_count > 0) {
return false;
}
// set home to latest gps location
return set_home(gps.location());
}
// set_home_to_current_location_and_lock - set home to current location and lock so it cannot be moved
static bool set_home_to_current_location_and_lock()
{
if (set_home_to_current_location()) {
set_home_state(HOME_SET_AND_LOCKED);
return true;
}
return false;
}
// set_home_and_lock - sets ahrs home (used for RTL) to specified location and locks so it cannot be moved
// unless this function is called again
static bool set_home_and_lock(const Location& loc)
{
if (set_home(loc)) {
set_home_state(HOME_SET_AND_LOCKED);
return true;
}
return false;
}
// set_home - sets ahrs home (used for RTL) to specified location
// initialises inertial nav and compass on first call
// returns true if home location set successfully
static bool set_home(const Location& loc)
{
// check location is valid
if (loc.lat == 0 && loc.lng == 0) {
return false;
}
// set ahrs home (used for RTL)
ahrs.set_home(loc);
// init inav and compass declination
if (ap.home_state == HOME_UNSET) {
// Set compass declination automatically
if (g.compass_enabled) {
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc);
scaleLongUp = 1.0f/scaleLongDown;
// record home is set
set_home_state(HOME_SET_NOT_LOCKED);
}
// To-Do: doing the stuff below constantly while armed could lead to lots of logging or performance hit?
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) {
Log_Write_Cmd(temp_cmd);
}
}
// return success
return true;
}
// far_from_EKF_origin - checks if a location is too far from the EKF origin
// returns true if too far
static bool far_from_EKF_origin(const Location& loc)
{
// check distance to EKF origin
const struct Location &ekf_origin = inertial_nav.get_origin();
if (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M) {
return true;
}
// close enough to origin
return false;
}
// checks if we should update ahrs/RTL home position from GPS
static void set_system_time_from_GPS()
{
// exit immediately if system time already set
if (ap.system_time_set) {
return;
}
// if we have a 3d lock and valid location
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// set system clock for log timestamps
hal.util->set_system_clock(gps.time_epoch_usec());
ap.system_time_set = true;
Log_Write_Event(DATA_SYSTEM_TIME_SET);
}
}
// check_gps_base_pos - sets gps base position (used for RTK only)
static void check_gps_base_pos()
{
if (!ap.gps_base_pos_set && !motors.armed() && home_is_set()) {
// if we're ready to enter RTK mode, then capture current state as home,
// and enter RTK fixes
if (gps.can_calculate_base_pos()) {
gps.calculate_base_pos();
}
ap.gps_base_pos_set = true;
}
}