mirror of https://github.com/ArduPilot/ardupilot
149 lines
4.2 KiB
C++
149 lines
4.2 KiB
C++
/*
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* logic for dealing with the current command in the mission and home location
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*/
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#include "Plane.h"
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/*
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* set_next_WP - sets the target location the vehicle should fly to
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*/
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void Plane::set_next_WP(const struct Location &loc)
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{
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if (auto_state.next_wp_crosstrack) {
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// copy the current WP into the OldWP slot
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prev_WP_loc = next_WP_loc;
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auto_state.crosstrack = true;
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} else {
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// we should not try to cross-track for this waypoint
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prev_WP_loc = current_loc;
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// use cross-track for the next waypoint
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auto_state.next_wp_crosstrack = true;
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auto_state.crosstrack = false;
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}
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// Load the next_WP slot
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// ---------------------
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next_WP_loc = loc;
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// if lat and lon is zero, then use current lat/lon
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// this allows a mission to contain a "loiter on the spot"
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// command
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if (next_WP_loc.lat == 0 && next_WP_loc.lng == 0) {
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next_WP_loc.lat = current_loc.lat;
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next_WP_loc.lng = current_loc.lng;
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// additionally treat zero altitude as current altitude
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if (next_WP_loc.alt == 0) {
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next_WP_loc.alt = current_loc.alt;
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next_WP_loc.relative_alt = false;
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next_WP_loc.terrain_alt = false;
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}
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}
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// convert relative alt to absolute alt
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if (next_WP_loc.relative_alt) {
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next_WP_loc.relative_alt = false;
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next_WP_loc.alt += home.alt;
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}
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// are we already past the waypoint? This happens when we jump
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// waypoints, and it can cause us to skip a waypoint. If we are
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// past the waypoint when we start on a leg, then use the current
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// location as the previous waypoint, to prevent immediately
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// considering the waypoint complete
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if (current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
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gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
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prev_WP_loc = current_loc;
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}
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// used to control FBW and limit the rate of climb
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// -----------------------------------------------
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set_target_altitude_location(next_WP_loc);
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// zero out our loiter vals to watch for missed waypoints
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loiter_angle_reset();
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setup_glide_slope();
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setup_turn_angle();
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}
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void Plane::set_guided_WP(void)
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{
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if (aparm.loiter_radius < 0 || guided_WP_loc.loiter_ccw) {
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loiter.direction = -1;
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} else {
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loiter.direction = 1;
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}
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// copy the current location into the OldWP slot
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// ---------------------------------------
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prev_WP_loc = current_loc;
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// Load the next_WP slot
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// ---------------------
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next_WP_loc = guided_WP_loc;
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// used to control FBW and limit the rate of climb
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// -----------------------------------------------
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set_target_altitude_current();
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setup_glide_slope();
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setup_turn_angle();
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// disable crosstrack, head directly to the point
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auto_state.crosstrack = false;
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// reset loiter start time.
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loiter.start_time_ms = 0;
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// start in non-VTOL mode
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auto_state.vtol_loiter = false;
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loiter_angle_reset();
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}
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/*
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update home location from GPS
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this is called as long as we have 3D lock and the arming switch is
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not pushed
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*/
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void Plane::update_home()
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{
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if (hal.util->was_watchdog_armed()) {
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return;
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}
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if ((g2.home_reset_threshold == -1) ||
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((g2.home_reset_threshold > 0) &&
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(fabsf(barometer.get_altitude()) > g2.home_reset_threshold))) {
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// don't auto-update if we have changed barometer altitude
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// significantly. This allows us to cope with slow baro drift
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// but not re-do home and the baro if we have changed height
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// significantly
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return;
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}
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if (ahrs.home_is_set() && !ahrs.home_is_locked()) {
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Location loc;
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if(ahrs.get_position(loc)) {
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if (!AP::ahrs().set_home(loc)) {
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// silently fail
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}
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}
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}
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barometer.update_calibration();
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ahrs.resetHeightDatum();
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}
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bool Plane::set_home_persistently(const Location &loc)
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{
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if (hal.util->was_watchdog_armed()) {
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return false;
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}
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if (!AP::ahrs().set_home(loc)) {
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return false;
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}
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// Save Home to EEPROM
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mission.write_home_to_storage();
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return true;
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}
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