mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.1 KiB
C++
81 lines
2.1 KiB
C++
#include "Rover.h"
|
|
|
|
// set ahrs home to current location from inertial-nav location
|
|
bool Rover::set_home_to_current_location(bool lock)
|
|
{
|
|
Location temp_loc;
|
|
if (ahrs.have_inertial_nav() && ahrs.get_location(temp_loc)) {
|
|
if (!set_home(temp_loc, lock)) {
|
|
return false;
|
|
}
|
|
// we have successfully set AHRS home, set it for SmartRTL
|
|
g2.smart_rtl.set_home(true);
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// sets ahrs home to specified location
|
|
// returns true if home location set successfully
|
|
bool Rover::set_home(const Location& loc, bool lock)
|
|
{
|
|
const bool home_was_set = ahrs.home_is_set();
|
|
|
|
// set ahrs home
|
|
if (!ahrs.set_home(loc)) {
|
|
return false;
|
|
}
|
|
|
|
if (!home_was_set) {
|
|
// log new home position which mission library will pull from ahrs
|
|
if (should_log(MASK_LOG_CMD)) {
|
|
AP_Mission::Mission_Command temp_cmd;
|
|
if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
|
|
logger.Write_Mission_Cmd(mode_auto.mission, temp_cmd);
|
|
}
|
|
}
|
|
}
|
|
|
|
// lock home position
|
|
if (lock) {
|
|
ahrs.lock_home();
|
|
}
|
|
|
|
// Save Home to EEPROM
|
|
mode_auto.mission.write_home_to_storage();
|
|
|
|
// send text of home position to ground stations
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %.2fm",
|
|
static_cast<double>(loc.lat * 1.0e-7f),
|
|
static_cast<double>(loc.lng * 1.0e-7f),
|
|
static_cast<double>(loc.alt * 0.01f));
|
|
|
|
// return success
|
|
return true;
|
|
}
|
|
|
|
// called periodically while disarmed to update our home position to
|
|
// our current location
|
|
void Rover::update_home()
|
|
{
|
|
if (ahrs.home_is_locked()) {
|
|
// we've been explicitly told our home location
|
|
return;
|
|
}
|
|
|
|
Location loc{};
|
|
if (!ahrs.get_location(loc)) {
|
|
return;
|
|
}
|
|
|
|
barometer.update_calibration();
|
|
|
|
if (ahrs.home_is_set() &&
|
|
loc.get_distance(ahrs.get_home()) < DISTANCE_HOME_MINCHANGE) {
|
|
// insufficiently moved from current home - don't change it
|
|
return;
|
|
}
|
|
|
|
IGNORE_RETURN(ahrs.set_home(loc));
|
|
}
|