mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.6 KiB
C++
67 lines
1.6 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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Location 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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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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// set guided radius to WP_LOITER_RAD on mode change.
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active_radius_m = 0;
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plane.set_guided_WP(loc);
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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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plane.update_loiter(active_radius_m);
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}
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bool ModeGuided::handle_guided_request(Location target_loc)
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{
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// add home alt if needed
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if (target_loc.relative_alt) {
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target_loc.alt += plane.home.alt;
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target_loc.relative_alt = 0;
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}
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plane.set_guided_WP(target_loc);
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return true;
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}
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void ModeGuided::set_radius_and_direction(const float radius, const bool direction_is_ccw)
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{
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// constrain to (uint16_t) range for update_loiter()
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active_radius_m = constrain_int32(fabsf(radius), 0, UINT16_MAX);
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plane.loiter.direction = direction_is_ccw ? -1 : 1;
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}
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