mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
#include "Copter.h"
|
|
|
|
// 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 (ahrs.home_is_set()) {
|
|
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)
|
|
if (!set_home_to_current_location(false)) {
|
|
// ignore failure
|
|
}
|
|
}
|
|
}
|
|
|
|
// 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;
|
|
Location ekf_origin;
|
|
if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
|
|
temp_loc.alt = ekf_origin.alt;
|
|
if (!set_home(temp_loc, false)) {
|
|
return;
|
|
}
|
|
// we have successfully set AHRS home, set it for SmartRTL
|
|
#if MODE_SMARTRTL_ENABLED
|
|
g2.smart_rtl.set_home(true);
|
|
#endif
|
|
}
|
|
}
|
|
|
|
// 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 (ahrs.get_location(temp_loc)) {
|
|
if (!set_home(temp_loc, lock)) {
|
|
return false;
|
|
}
|
|
// we have successfully set AHRS home, set it for SmartRTL
|
|
#if MODE_SMARTRTL_ENABLED
|
|
g2.smart_rtl.set_home(true);
|
|
#endif
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// set_home - sets ahrs home (used for RTL) to specified location
|
|
// returns true if home location set successfully
|
|
bool Copter::set_home(const Location& loc, bool lock)
|
|
{
|
|
// check EKF origin has been set
|
|
Location ekf_origin;
|
|
if (!ahrs.get_origin(ekf_origin)) {
|
|
return false;
|
|
}
|
|
|
|
// set ahrs home (used for RTL)
|
|
if (!ahrs.set_home(loc)) {
|
|
return false;
|
|
}
|
|
|
|
// lock home position
|
|
if (lock) {
|
|
ahrs.lock_home();
|
|
}
|
|
|
|
// return success
|
|
return true;
|
|
}
|