ardupilot/ArduPlane/rally.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* rally point support
* Michael Day, September 2013
*/
//get a rally point
static bool get_rally_point_with_index(unsigned i, RallyLocation &ret)
{
if (i >= (unsigned)g.rally_total) {
return false;
}
hal.storage->read_block(&ret, RALLY_START_BYTE + (i * sizeof(RallyLocation)), sizeof(RallyLocation));
if (ret.lat == 0 && ret.lng == 0) {
// sanity check ...
return false;
}
return true;
}
//save a rally point
static bool set_rally_point_with_index(unsigned i, const RallyLocation &rallyLoc)
{
if (i >= (unsigned) g.rally_total) {
//not allowed
return false;
}
if (i >= MAX_RALLYPOINTS) {
//also not allowed
return false;
}
hal.storage->write_block(RALLY_START_BYTE + (i * sizeof(RallyLocation)), &rallyLoc, sizeof(RallyLocation));
return true;
}
// 'best' means 'closest to Location loc' for now.
static bool find_best_rally_point(const Location &myloc, const Location &homeloc, RallyLocation &ret)
{
float min_dis = -1;
for (unsigned i = 0; i < (unsigned) g.rally_total; i++) {
RallyLocation next_rally;
if (!get_rally_point_with_index(i, next_rally)) {
continue;
}
Location rally_loc = rally_location_to_location(next_rally, homeloc);
float dis = get_distance(myloc, rally_loc);
if (dis < min_dis || min_dis < 0) {
min_dis = dis;
ret = next_rally;
}
}
if (g.rally_limit_km > 0 && min_dis > g.rally_limit_km*1000.0f &&
get_distance(myloc, homeloc) < min_dis) {
// return false, which makes home be used instead
return false;
}
return min_dis >= 0;
}
// translate a RallyLocation to a Location
static Location rally_location_to_location(const RallyLocation &r_loc, const Location &homeloc)
{
Location ret = {};
ret.id = MAV_CMD_NAV_LOITER_UNLIM;
ret.options = MASK_OPTIONS_RELATIVE_ALT;
//Currently can't do true AGL on the APM. Relative altitudes are
//relative to HOME point's altitude. Terrain on the board is inbound
//for the PX4, though. This line will need to be updated when that happens:
ret.alt = (r_loc.alt*100UL) + homeloc.alt;
ret.lat = r_loc.lat;
ret.lng = r_loc.lng;
return ret;
}
// return best RTL location from current position
static Location rally_find_best_location(const Location &myloc, const Location &homeloc)
{
RallyLocation ral_loc = {};
Location ret = {};
if (find_best_rally_point(myloc, home, ral_loc)) {
//we have setup Rally points: use them instead of Home for RTL
ret = rally_location_to_location(ral_loc, home);
} else {
ret = homeloc;
// Altitude to hold over home
ret.alt = read_alt_to_hold();
}
return ret;
}