mirror of https://github.com/ArduPilot/ardupilot
82 lines
3.0 KiB
C++
82 lines
3.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file limits.cpp
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/// @brief Imposes limits on location (geofence), altitude and other parameters
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/// Each limit breach will trigger an action or set of actions to recover.
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// Adapted from geofence.
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/// @author Andrew Tridgell
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/// Andreas Antonopoulos
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#include "AP_Limit_Altitude.h"
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const AP_Param::GroupInfo AP_Limit_Altitude::var_info[] PROGMEM = {
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// @Param: ALT_ON
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// @DisplayName: Enable altitude
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// @Description: Setting this to Enabled(1) will enable the altitude. Setting this to Disabled(0) will disable the altitude
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("ALT_ON", 0, AP_Limit_Altitude, _enabled, 0),
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// @Param: ALT_REQ
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// @DisplayName: Require altitude
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// @Description: Setting this to Enabled(1) will make being inside the altitude a required check before arming the vehicle.
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("ALT_REQ", 1, AP_Limit_Altitude, _required, 0),
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// @Param: ALT_MIN
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// @DisplayName: Minimum Altitude
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// @Description: Minimum Altitude. Zero to disable. Sets a "floor" that your vehicle will try to stay above. IF the vehicle is crossing the threshold at speed, it will take a while to recover, so give yourself enough room. Caution: minimum altitude limits can cause unexpected behaviour, such as inability to land, or sudden takeoff. Read the wiki instructions before setting.
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// @Units: Meters
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// @Range: 0 250000
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("ALT_MIN", 2, AP_Limit_Altitude, _min_alt, 0),
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// @Param: ALT_MAX
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// @DisplayName: Maximum Altitude
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// @Description: Maximum Altitude. Zero to disable. Sets a "ceiling" that your vehicle will try to stay below. IF the vehicle is crossing the threshold at speed, it will take a while to recover.
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// @Units: Meters
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// @Range: 0 250000
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("ALT_MAX", 3, AP_Limit_Altitude, _max_alt, 0),
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AP_GROUPEND
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};
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AP_Limit_Altitude::AP_Limit_Altitude(const struct Location *current_loc) :
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AP_Limit_Module(AP_LIMITS_ALTITUDE), // enabled and required
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_current_loc(current_loc)
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{
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AP_Param::setup_object_defaults(this, var_info);
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//_current_loc = current_loc;
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}
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bool AP_Limit_Altitude::triggered()
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{
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_triggered = false; // reset trigger before checking
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// _max_alt is zero if disabled
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// convert _max_alt to centimeters to compare to actual altitude
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if (_max_alt > 0 && _current_loc->alt > _max_alt*100 ) {
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_triggered = true;
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}
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// _min_alt is zero if disabled
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// convert _min_alt to centimeters to compare to actual altitude
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if (_min_alt > 0 && _current_loc->alt < _min_alt*100 ) {
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_triggered = true;
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}
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return _triggered;
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}
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AP_Int32 AP_Limit_Altitude::max_alt() {
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return _max_alt;
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}
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AP_Int32 AP_Limit_Altitude::min_alt() {
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return _min_alt;
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}
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