ardupilot/APMrover2/commands.cpp

112 lines
3.0 KiB
C++

#include "Rover.h"
/* Functions in this file:
void set_next_WP(const AP_Mission::Mission_Command& cmd)
void set_guided_WP(void)
void init_home()
void restart_nav()
************************************************************
*/
/*
* set_next_WP - sets the target location the vehicle should fly to
*/
void Rover::set_next_WP(const struct Location& loc)
{
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
// Load the next_WP slot
// ---------------------
next_WP = loc;
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are
// past the waypoint when we start on a leg, then use the current
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous WP");
prev_WP = current_loc;
}
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
}
void Rover::set_guided_WP(void)
{
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP = current_loc;
// Load the next_WP slot
// ---------------------
next_WP = guided_WP;
// this is handy for the groundstation
wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance;
}
// run this at setup on the ground
// -------------------------------
void Rover::init_home()
{
if (!have_position) {
// we need position information
return;
}
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
ahrs.set_home(gps.location());
home_is_set = HOME_SET_NOT_LOCKED;
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
// Save Home to EEPROM
mission.write_home_to_storage();
// Save prev loc
// -------------
next_WP = prev_WP = home;
// Load home for a default guided_WP
// -------------
guided_WP = home;
}
void Rover::restart_nav()
{
g.pidSpeedThrottle.reset_I();
prev_WP = current_loc;
mission.start_or_resume();
}
/*
update home location from GPS
this is called as long as we have 3D lock and the arming switch is
not pushed
*/
void Rover::update_home()
{
if (home_is_set == HOME_SET_NOT_LOCKED) {
Location loc = gps.location();
Location origin;
// if an EKF origin is available then we leave home equal to
// the height of that origin. This ensures that our relative
// height calculations are using the same origin
if (ahrs.get_origin(origin)) {
loc.alt = origin.alt;
}
ahrs.set_home(loc);
Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location());
}
barometer.update_calibration();
}