mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.5 KiB
Plaintext
98 lines
3.5 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* control_guided.pde - init and run calls for guided flight mode
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*/
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#ifndef GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM
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# define GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM 500 // point nose at target if it is more than 5m away
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#endif
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static bool guided_pilot_yaw_override_yaw = false;
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// guided_init - initialise guided controller
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static bool guided_init(bool ignore_checks)
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{
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if (GPS_ok() || ignore_checks) {
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// initialise wpnav to stopping point at current altitude
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// To-Do: set to current location if disarmed?
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// To-Do: set to stopping point altitude?
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Vector3f stopping_point;
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stopping_point.z = inertial_nav.get_altitude();
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wp_nav.get_wp_stopping_point_xy(stopping_point);
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wp_nav.set_wp_destination(stopping_point);
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guided_pilot_yaw_override_yaw = false;
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// initialise yaw to hold at current heading (reset to point at waypoint in guided_set_destination)
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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return true;
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}else{
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return false;
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}
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}
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// guided_set_destination - sets guided mode's target destination
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static void guided_set_destination(const Vector3f& destination)
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{
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if (control_mode == GUIDED) {
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wp_nav.set_wp_destination(destination);
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if (!guided_pilot_yaw_override_yaw) {
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// get default yaw mode
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set_auto_yaw_mode(get_default_auto_yaw_mode(false));
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// point nose at next waypoint if it is more than 10m away
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if (auto_yaw_mode == AUTO_YAW_LOOK_AT_NEXT_WP) {
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// get distance to new location
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wp_distance = wp_nav.get_wp_distance_to_destination();
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// set original_wp_bearing to point at next waypoint
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if (wp_distance >= GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM) {
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original_wp_bearing = wp_bearing;
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}
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}
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}
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}
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}
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// guided_run - runs the guided controller
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// should be called at 100hz or more
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static void guided_run()
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{
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// if not auto armed set throttle to zero and exit immediately
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if(!ap.auto_armed) {
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// To-Do: reset waypoint controller?
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attitude_control.init_targets();
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attitude_control.set_throttle_out(0, false);
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// To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
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return;
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}
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// process pilot's yaw input
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float target_yaw_rate = 0;
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if (!failsafe.radio) {
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
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if (target_yaw_rate != 0) {
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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}
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// run waypoint controller
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wp_nav.update_wpnav();
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// call z-axis position controller (wpnav should have already updated it's alt target)
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pos_control.update_z_controller();
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// call attitude controller
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if (auto_yaw_mode == AUTO_YAW_HOLD) {
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
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}else{
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// roll, pitch from waypoint controller, yaw heading from auto_heading()
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attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading());
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}
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// re-fetch angle targets for reporting
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const Vector3f angle_target = attitude_control.angle_ef_targets();
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control_roll = angle_target.x;
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control_pitch = angle_target.y;
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control_yaw = angle_target.z;
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}
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