mirror of https://github.com/ArduPilot/ardupilot
75 lines
1.8 KiB
C++
75 lines
1.8 KiB
C++
#include "mode.h"
|
|
#include "Rover.h"
|
|
|
|
bool ModeRTL::_enter()
|
|
{
|
|
// refuse RTL if home has not been set
|
|
if (!AP::ahrs().home_is_set()) {
|
|
return false;
|
|
}
|
|
|
|
// set target to the closest rally point or home
|
|
#if AP_RALLY == ENABLED
|
|
if (!g2.wp_nav.set_desired_location(g2.rally.calc_best_rally_or_home_location(rover.current_loc, ahrs.get_home().alt))) {
|
|
return false;
|
|
}
|
|
#else
|
|
// set destination
|
|
if (!g2.wp_nav.set_desired_location(ahrs.get_home())) {
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
// initialise waypoint speed
|
|
if (is_positive(g2.rtl_speed)) {
|
|
g2.wp_nav.set_desired_speed(g2.rtl_speed);
|
|
} else {
|
|
g2.wp_nav.set_desired_speed_to_default();
|
|
}
|
|
|
|
sent_notification = false;
|
|
|
|
return true;
|
|
}
|
|
|
|
void ModeRTL::update()
|
|
{
|
|
// determine if we should keep navigating
|
|
if (!g2.wp_nav.reached_destination()) {
|
|
// update navigation controller
|
|
navigate_to_waypoint();
|
|
} else {
|
|
// send notification
|
|
if (!sent_notification) {
|
|
sent_notification = true;
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
|
|
}
|
|
|
|
// we have reached the destination
|
|
// boats keep navigating, rovers stop
|
|
if (rover.is_boat()) {
|
|
navigate_to_waypoint();
|
|
} else {
|
|
stop_vehicle();
|
|
}
|
|
|
|
// update distance to destination
|
|
_distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
|
|
}
|
|
}
|
|
|
|
// get desired location
|
|
bool ModeRTL::get_desired_location(Location& destination) const
|
|
{
|
|
if (g2.wp_nav.is_destination_valid()) {
|
|
destination = g2.wp_nav.get_oa_destination();
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool ModeRTL::reached_destination() const
|
|
{
|
|
return g2.wp_nav.reached_destination();
|
|
}
|