mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.3 KiB
C++
94 lines
2.3 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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// set target to the closest rally point or home
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#if AP_RALLY == ENABLED
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if (!g2.wp_nav.set_desired_location(g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt))) {
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return false;
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}
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#else
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// set destination
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if (!g2.wp_nav.set_desired_location(ahrs.get_home())) {
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return false;
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}
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#endif
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// initialise waypoint speed
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if (is_positive(g2.rtl_speed)) {
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g2.wp_nav.set_desired_speed(g2.rtl_speed);
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} else {
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g2.wp_nav.set_desired_speed_to_default();
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}
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send_notification = true;
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_loitering = false;
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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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// determine if we should keep navigating
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if (!g2.wp_nav.reached_destination()) {
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// update navigation controller
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navigate_to_waypoint();
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} else {
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// send notification
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if (send_notification) {
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send_notification = false;
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gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
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}
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// we have reached the destination
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// boats loiter, rovers stop
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if (!rover.is_boat()) {
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stop_vehicle();
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} else {
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// if not loitering yet, start loitering
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if (!_loitering) {
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_loitering = rover.mode_loiter.enter();
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}
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// update stop or loiter
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if (_loitering) {
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rover.mode_loiter.update();
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} else {
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stop_vehicle();
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}
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}
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// update distance to destination
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_distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
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}
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}
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// get desired location
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bool ModeRTL::get_desired_location(Location& destination) const
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{
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if (g2.wp_nav.is_destination_valid()) {
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destination = g2.wp_nav.get_oa_destination();
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return true;
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}
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return false;
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}
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bool ModeRTL::reached_destination() const
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{
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return g2.wp_nav.reached_destination();
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}
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// set desired speed in m/s
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bool ModeRTL::set_desired_speed(float speed)
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{
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if (is_negative(speed)) {
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return false;
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}
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g2.wp_nav.set_desired_speed(speed);
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return true;
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}
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