ardupilot/ArduPlane/commands.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* logic for dealing with the current command in the mission and home location
*/
static int32_t read_alt_to_hold()
{
if (g.RTL_altitude_cm < 0) {
return current_loc.alt;
}
return g.RTL_altitude_cm + home.alt;
}
/*
* This function stores waypoint commands
* It looks to see what the next command type is and finds the last command.
*/
static void set_next_WP(const AP_Mission::Mission_Command& cmd)
{
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
// Load the next_WP slot
// ---------------------
next_WP = cmd;
// if lat and lon is zero, then use current lat/lon
// this allows a mission to contain a "loiter on the spot"
// command
if (next_WP.content.location.lat == 0 && next_WP.content.location.lng == 0) {
next_WP.content.location.lat = current_loc.lat;
next_WP.content.location.lng = current_loc.lng;
// additionally treat zero altitude as current altitude
if (next_WP.content.location.alt == 0) {
next_WP.content.location.alt = current_loc.alt;
next_WP.content.location.flags.relative_alt = false;
}
}
// convert relative alt to absolute alt
if (next_WP.content.location.flags.relative_alt) {
next_WP.content.location.flags.relative_alt = false;
next_WP.content.location.alt += home.alt;
}
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are
// past the waypoint when we start on a leg, then use the current
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP.content.location, next_WP.content.location)) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Resetting prev_WP"));
prev_WP.content.location = current_loc;
}
// used to control FBW and limit the rate of climb
// -----------------------------------------------
target_altitude_cm = current_loc.alt;
// zero out our loiter vals to watch for missed waypoints
loiter_angle_reset();
setup_glide_slope();
loiter_angle_reset();
}
static void set_guided_WP(void)
{
if (g.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP.content.location = current_loc;
// Load the next_WP slot
// ---------------------
next_WP.content.location = guided_WP;
// used to control FBW and limit the rate of climb
// -----------------------------------------------
target_altitude_cm = current_loc.alt;
setup_glide_slope();
loiter_angle_reset();
}
// run this at setup on the ground
// -------------------------------
static void init_home()
{
gcs_send_text_P(SEVERITY_LOW, PSTR("init home"));
// block until we get a good fix
// -----------------------------
while (!g_gps->new_data || !g_gps->fix) {
g_gps->update();
#if HIL_MODE != HIL_MODE_DISABLED
// update hil gps so we have new_data
gcs_update();
#endif
}
ahrs.set_home(g_gps->latitude, g_gps->longitude, g_gps->altitude_cm);
home_is_set = true;
gcs_send_text_fmt(PSTR("gps alt: %lu"), (unsigned long)home.alt);
// Save Home to EEPROM
mission.write_home_to_storage();
// Save prev loc
// -------------
next_WP.content.location = prev_WP.content.location = home;
// Load home for a default guided_WP
// -------------
guided_WP = home;
guided_WP.alt += g.RTL_altitude_cm;
}
/*
update home location from GPS
this is called as long as we have 3D lock and the arming switch is
not pushed
*/
static void update_home()
{
ahrs.set_home(g_gps->latitude, g_gps->longitude, g_gps->altitude_cm);
barometer.update_calibration();
}