mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
#include "Copter.h"
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// checks if we should update ahrs/RTL home position from the EKF
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void Copter::update_home_from_EKF()
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{
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// exit immediately if home already set
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if (ahrs.home_is_set()) {
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return;
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}
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// special logic if home is set in-flight
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if (motors->armed()) {
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set_home_to_current_location_inflight();
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} else {
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// move home to current ekf location (this will set home_state to HOME_SET)
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if (!set_home_to_current_location(false)) {
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// ignore failure
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}
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}
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}
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// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
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void Copter::set_home_to_current_location_inflight() {
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// get current location from EKF
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Location temp_loc;
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Location ekf_origin;
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if (ahrs.get_location(temp_loc) && ahrs.get_origin(ekf_origin)) {
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temp_loc.alt = ekf_origin.alt;
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if (!set_home(temp_loc, false)) {
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return;
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}
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// we have successfully set AHRS home, set it for SmartRTL
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(true);
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#endif
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}
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}
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// set_home_to_current_location - set home to current GPS location
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bool Copter::set_home_to_current_location(bool lock) {
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// get current location from EKF
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Location temp_loc;
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if (ahrs.get_location(temp_loc)) {
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if (!set_home(temp_loc, lock)) {
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return false;
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}
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// we have successfully set AHRS home, set it for SmartRTL
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(true);
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#endif
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return true;
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}
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return false;
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}
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// set_home - sets ahrs home (used for RTL) to specified location
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// returns true if home location set successfully
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bool Copter::set_home(const Location& loc, bool lock)
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{
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// check EKF origin has been set
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Location ekf_origin;
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if (!ahrs.get_origin(ekf_origin)) {
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return false;
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}
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// set ahrs home (used for RTL)
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if (!ahrs.set_home(loc)) {
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return false;
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}
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// lock home position
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if (lock) {
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ahrs.lock_home();
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}
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// return success
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return true;
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}
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