mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_Rally.h
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/// @brief Handles rally point storage, retrieval and lookup
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/*
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* The AP_Rally library:
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*
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* Initial implementation: Michael Day, September 2013
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* Moved to AP_Rally lib: Andrew Chapman April 2014
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*
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* - responsible for managing a list of rally points
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* - reads and writes the rally points to storage
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* - provides access to the rally points, including logic to find the nearest one
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*
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*/
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#ifndef AP_Rally_h
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#define AP_Rally_h
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_AHRS.h>
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#include <../StorageManager/StorageManager.h>
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#define AP_RALLY_WP_SIZE 15 // eeprom size of rally points
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struct PACKED RallyLocation {
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int32_t lat; //Latitude * 10^7
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int32_t lng; //Longitude * 10^7
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int16_t alt; //transit altitude (and loiter altitude) in meters (absolute);
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int16_t break_alt; //when autolanding, break out of loiter at this alt (meters)
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uint16_t land_dir; //when the time comes to auto-land, try to land in this direction (centidegrees)
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uint8_t flags; //bit 0 = seek favorable winds when choosing a landing poi
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//bit 1 = do auto land after arriving
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//all other bits are for future use.
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};
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/// @class AP_Rally
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/// @brief Object managing Rally Points
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class AP_Rally {
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public:
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AP_Rally(AP_AHRS &ahrs);
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// data handling
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bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const;
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bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc);
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uint8_t get_rally_total() const { return _rally_point_total_count; }
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uint8_t get_rally_max(void) const { return _storage.size() / AP_RALLY_WP_SIZE; }
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float get_rally_limit_km() const { return _rally_limit_km; }
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Location rally_location_to_location(const RallyLocation &ret) const;
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// logic handling
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Location calc_best_rally_or_home_location(const Location ¤t_loc, float rtl_home_alt) const;
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bool find_nearest_rally_point(const Location &myloc, RallyLocation &ret) const;
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// last time rally points changed
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uint32_t last_change_time_ms(void) const { return _last_change_time_ms; }
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// parameter block
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static StorageAccess _storage;
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// internal variables
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const AP_AHRS& _ahrs; // used only for home position
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// parameters
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AP_Int8 _rally_point_total_count;
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AP_Float _rally_limit_km;
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AP_Int8 _rally_incl_home;
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uint32_t _last_change_time_ms;
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};
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#endif // AP_Rally_h
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