ardupilot/ArduPlane/mode_guided.cpp

96 lines
3.0 KiB
C++

#include "mode.h"
#include "Plane.h"
bool ModeGuided::_enter()
{
plane.guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code
*/
Location loc{plane.current_loc};
#if HAL_QUADPLANE_ENABLED
if (plane.quadplane.guided_mode_enabled()) {
/*
if using Q_GUIDED_MODE then project forward by the stopping distance
*/
loc.offset_bearing(degrees(ahrs.groundspeed_vector().angle()),
plane.quadplane.stopping_distance());
}
#endif
// set guided radius to WP_LOITER_RAD on mode change.
active_radius_m = 0;
plane.set_guided_WP(loc);
return true;
}
void ModeGuided::update()
{
#if HAL_QUADPLANE_ENABLED
if (plane.auto_state.vtol_loiter && plane.quadplane.available()) {
plane.quadplane.guided_update();
return;
}
#endif
plane.calc_nav_roll();
plane.calc_nav_pitch();
plane.calc_throttle();
}
void ModeGuided::navigate()
{
plane.update_loiter(active_radius_m);
}
bool ModeGuided::handle_guided_request(Location target_loc)
{
// add home alt if needed
if (target_loc.relative_alt) {
target_loc.alt += plane.home.alt;
target_loc.relative_alt = 0;
}
plane.set_guided_WP(target_loc);
return true;
}
void ModeGuided::set_radius_and_direction(const float radius, const bool direction_is_ccw)
{
// constrain to (uint16_t) range for update_loiter()
active_radius_m = constrain_int32(fabsf(radius), 0, UINT16_MAX);
plane.loiter.direction = direction_is_ccw ? -1 : 1;
}
void ModeGuided::update_target_altitude()
{
#if OFFBOARD_GUIDED == ENABLED
if (((plane.guided_state.target_alt_time_ms != 0) || plane.guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
// offboard altitude demanded
uint32_t now = AP_HAL::millis();
float delta = 1e-3f * (now - plane.guided_state.target_alt_time_ms);
plane.guided_state.target_alt_time_ms = now;
// determine delta accurately as a float
float delta_amt_f = delta * plane.guided_state.target_alt_accel;
// then scale x100 to match last_target_alt and convert to a signed int32_t as it may be negative
int32_t delta_amt_i = (int32_t)(100.0 * delta_amt_f);
Location temp {};
temp.alt = plane.guided_state.last_target_alt + delta_amt_i; // ...to avoid floats here,
if (is_positive(plane.guided_state.target_alt_accel)) {
temp.alt = MIN(plane.guided_state.target_alt, temp.alt);
} else {
temp.alt = MAX(plane.guided_state.target_alt, temp.alt);
}
plane.guided_state.last_target_alt = temp.alt;
plane.set_target_altitude_location(temp);
plane.altitude_error_cm = plane.calc_altitude_error_cm();
} else
#endif // OFFBOARD_GUIDED == ENABLED
{
Mode::update_target_altitude();
}
}