mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeGuided::_enter()
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{
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plane.guided_throttle_passthru = false;
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/*
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when entering guided mode we set the target as the current
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location. This matches the behaviour of the copter code
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*/
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plane.guided_WP_loc = plane.current_loc;
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#if HAL_QUADPLANE_ENABLED
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if (plane.quadplane.guided_mode_enabled()) {
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/*
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if using Q_GUIDED_MODE then project forward by the stopping distance
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*/
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plane.guided_WP_loc.offset_bearing(degrees(plane.ahrs.groundspeed_vector().angle()),
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plane.quadplane.stopping_distance());
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}
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#endif
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plane.set_guided_WP();
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return true;
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}
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void ModeGuided::update()
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{
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#if HAL_QUADPLANE_ENABLED
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if (plane.auto_state.vtol_loiter && plane.quadplane.available()) {
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plane.quadplane.guided_update();
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return;
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}
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#endif
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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}
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void ModeGuided::navigate()
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{
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// Zero indicates to use WP_LOITER_RAD
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plane.update_loiter(0);
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}
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bool ModeGuided::handle_guided_request(Location target_loc)
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{
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plane.guided_WP_loc = target_loc;
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// add home alt if needed
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if (plane.guided_WP_loc.relative_alt) {
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plane.guided_WP_loc.alt += plane.home.alt;
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plane.guided_WP_loc.relative_alt = 0;
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}
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plane.set_guided_WP();
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return true;
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}
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