mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.4 KiB
C++
120 lines
3.4 KiB
C++
#include "Copter.h"
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// checks if we should update ahrs/RTL home position from the EKF
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void Copter::update_home_from_EKF()
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{
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// exit immediately if home already set
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if (ahrs.home_is_set()) {
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return;
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}
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// special logic if home is set in-flight
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if (motors->armed()) {
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set_home_to_current_location_inflight();
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} else {
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// move home to current ekf location (this will set home_state to HOME_SET)
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set_home_to_current_location(false);
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}
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}
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// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
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void Copter::set_home_to_current_location_inflight() {
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// get current location from EKF
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Location temp_loc;
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if (inertial_nav.get_location(temp_loc)) {
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const struct Location &ekf_origin = inertial_nav.get_origin();
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temp_loc.alt = ekf_origin.alt;
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if (!set_home(temp_loc, false)) {
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return;
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}
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// we have successfully set AHRS home, set it for SmartRTL
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(true);
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#endif
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}
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}
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// set_home_to_current_location - set home to current GPS location
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bool Copter::set_home_to_current_location(bool lock) {
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// get current location from EKF
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Location temp_loc;
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if (inertial_nav.get_location(temp_loc)) {
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if (!set_home(temp_loc, lock)) {
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return false;
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}
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// we have successfully set AHRS home, set it for SmartRTL
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(true);
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#endif
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return true;
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}
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return false;
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}
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// set_home - sets ahrs home (used for RTL) to specified location
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// initialises inertial nav and compass on first call
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// returns true if home location set successfully
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bool Copter::set_home(const Location& loc, bool lock)
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{
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// check location is valid
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if (loc.lat == 0 && loc.lng == 0) {
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return false;
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}
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// check EKF origin has been set
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Location ekf_origin;
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if (!ahrs.get_origin(ekf_origin)) {
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return false;
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}
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// check home is close to EKF origin
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if (far_from_EKF_origin(loc)) {
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return false;
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}
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const bool home_was_set = ahrs.home_is_set();
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// set ahrs home (used for RTL)
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ahrs.set_home(loc);
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// init inav and compass declination
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if (!home_was_set) {
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// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
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scaleLongDown = longitude_scale(loc);
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// record home is set
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Log_Write_Event(DATA_SET_HOME);
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#if MODE_AUTO_ENABLED == ENABLED
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// log new home position which mission library will pull from ahrs
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if (should_log(MASK_LOG_CMD)) {
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AP_Mission::Mission_Command temp_cmd;
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if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
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DataFlash.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd);
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}
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}
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#endif
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}
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// lock home position
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if (lock) {
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ahrs.lock_home();
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}
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// return success
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return true;
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}
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// far_from_EKF_origin - checks if a location is too far from the EKF origin
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// returns true if too far
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bool Copter::far_from_EKF_origin(const Location& loc)
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{
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// check distance to EKF origin
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const struct Location &ekf_origin = inertial_nav.get_origin();
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if (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M) {
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return true;
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}
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// close enough to origin
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return false;
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}
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