ardupilot/ArduCopter/commands.cpp

166 lines
4.8 KiB
C++

#include "Copter.h"
/*
* the home_state has a number of possible values (see enum HomeState in defines.h's)
* HOME_UNSET = home is not set, no GPS positions yet received
* HOME_SET_NOT_LOCKED = home is set to EKF origin or armed location (can be moved)
* HOME_SET_AND_LOCKED = home has been set by user, cannot be moved except by user initiated do-set-home command
*/
// checks if we should update ahrs/RTL home position from the EKF
void Copter::update_home_from_EKF()
{
// exit immediately if home already set
if (ap.home_state != HOME_UNSET) {
return;
}
// special logic if home is set in-flight
if (motors->armed()) {
set_home_to_current_location_inflight();
} else {
// move home to current ekf location (this will set home_state to HOME_SET)
set_home_to_current_location(false);
}
}
// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
void Copter::set_home_to_current_location_inflight() {
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
const struct Location &ekf_origin = inertial_nav.get_origin();
temp_loc.alt = ekf_origin.alt;
set_home(temp_loc, false);
}
}
// set_home_to_current_location - set home to current GPS location
bool Copter::set_home_to_current_location(bool lock) {
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
return set_home(temp_loc, lock);
}
return false;
}
// set_home - sets ahrs home (used for RTL) to specified location
// initialises inertial nav and compass on first call
// returns true if home location set successfully
bool Copter::set_home(const Location& loc, bool lock)
{
// check location is valid
if (loc.lat == 0 && loc.lng == 0) {
return false;
}
// check EKF origin has been set
Location ekf_origin;
if (!ahrs.get_origin(ekf_origin)) {
return false;
}
// check home is close to EKF origin
if (far_from_EKF_origin(loc)) {
return false;
}
// set ahrs home (used for RTL)
ahrs.set_home(loc);
// init inav and compass declination
if (ap.home_state == HOME_UNSET) {
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc);
// record home is set
set_home_state(HOME_SET_NOT_LOCKED);
// log new home position which mission library will pull from ahrs
if (should_log(MASK_LOG_CMD)) {
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(0, temp_cmd)) {
DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
}
}
}
// lock home position
if (lock) {
set_home_state(HOME_SET_AND_LOCKED);
}
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
// send new home and ekf origin to GCS
gcs().send_home(loc);
gcs().send_ekf_origin(ekf_origin);
// return success
return true;
}
// sets ekf_origin if it has not been set.
// should only be used when there is no GPS to provide an absolute position
void Copter::set_ekf_origin(const Location& loc)
{
// check location is valid
if (!check_latlng(loc)) {
return;
}
// check EKF origin has already been set
Location ekf_origin;
if (ahrs.get_origin(ekf_origin)) {
return;
}
if (!ahrs.set_origin(loc)) {
return;
}
// log ahrs home and ekf origin dataflash
Log_Write_Home_And_Origin();
// send ekf origin to GCS
gcs().send_ekf_origin(loc);
}
// far_from_EKF_origin - checks if a location is too far from the EKF origin
// returns true if too far
bool Copter::far_from_EKF_origin(const Location& loc)
{
// check distance to EKF origin
const struct Location &ekf_origin = inertial_nav.get_origin();
if (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M) {
return true;
}
// close enough to origin
return false;
}
// checks if we should update ahrs/RTL home position from GPS
void Copter::set_system_time_from_GPS()
{
// exit immediately if system time already set
if (ap.system_time_set) {
return;
}
// if we have a 3d lock and valid location
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// set system clock for log timestamps
uint64_t gps_timestamp = gps.time_epoch_usec();
hal.util->set_system_clock(gps_timestamp);
// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
ap.system_time_set = true;
Log_Write_Event(DATA_SYSTEM_TIME_SET);
}
}