mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
#include "mode.h"
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#include "Rover.h"
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bool ModeRTL::_enter()
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{
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// refuse RTL if home has not been set
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if (!AP::ahrs().home_is_set()) {
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return false;
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}
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// initialise waypoint speed
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set_desired_speed_to_default(true);
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// set target to the closest rally point or home
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#if AP_RALLY == ENABLED
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set_desired_location(rover.g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt));
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#else
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// set destination
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set_desired_location(rover.home);
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#endif
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return true;
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}
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void ModeRTL::update()
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{
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// calculate distance to home
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_distance_to_destination = rover.current_loc.get_distance(_destination);
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const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
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// check if we've reached the destination
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if (!_reached_destination && (near_wp || rover.current_loc.past_interval_finish_line(_origin, _destination))) {
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// trigger reached
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_reached_destination = true;
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gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
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}
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// determine if we should keep navigating
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if (!_reached_destination || (rover.is_boat() && !near_wp)) {
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// continue driving towards destination
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calc_steering_to_waypoint(_reached_destination ? rover.current_loc :_origin, _destination, _reversed);
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calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
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} else {
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// we've reached destination so stop
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stop_vehicle();
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}
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}
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