mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.3 KiB
C++
108 lines
3.3 KiB
C++
#include "mode.h"
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#include "Plane.h"
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bool ModeAuto::_enter()
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{
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#if HAL_QUADPLANE_ENABLED
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if (plane.quadplane.available() && plane.quadplane.enable == 2) {
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plane.auto_state.vtol_mode = true;
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} else {
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plane.auto_state.vtol_mode = false;
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}
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#else
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plane.auto_state.vtol_mode = false;
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#endif
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plane.next_WP_loc = plane.prev_WP_loc = plane.current_loc;
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// start or resume the mission, based on MIS_AUTORESET
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plane.mission.start_or_resume();
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if (hal.util->was_watchdog_armed()) {
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if (hal.util->persistent_data.waypoint_num != 0) {
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gcs().send_text(MAV_SEVERITY_INFO, "Watchdog: resume WP %u", hal.util->persistent_data.waypoint_num);
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plane.mission.set_current_cmd(hal.util->persistent_data.waypoint_num);
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hal.util->persistent_data.waypoint_num = 0;
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}
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}
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#if HAL_SOARING_ENABLED
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plane.g2.soaring_controller.init_cruising();
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#endif
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return true;
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}
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void ModeAuto::_exit()
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{
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if (plane.mission.state() == AP_Mission::MISSION_RUNNING) {
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plane.mission.stop();
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bool restart = plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND;
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#if HAL_QUADPLANE_ENABLED
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if (plane.quadplane.is_vtol_land(plane.mission.get_current_nav_cmd().id)) {
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restart = false;
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}
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#endif
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if (restart) {
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plane.landing.restart_landing_sequence();
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}
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}
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plane.auto_state.started_flying_in_auto_ms = 0;
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}
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void ModeAuto::update()
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{
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if (plane.mission.state() != AP_Mission::MISSION_RUNNING) {
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// this could happen if AP_Landing::restart_landing_sequence() returns false which would only happen if:
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// restart_landing_sequence() is called when not executing a NAV_LAND or there is no previous nav point
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plane.set_mode(plane.mode_rtl, ModeReason::MISSION_END);
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gcs().send_text(MAV_SEVERITY_INFO, "Aircraft in auto without a running mission");
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return;
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}
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uint16_t nav_cmd_id = plane.mission.get_current_nav_cmd().id;
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#if HAL_QUADPLANE_ENABLED
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if (plane.quadplane.in_vtol_auto()) {
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plane.quadplane.control_auto();
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return;
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}
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#endif
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if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF ||
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(nav_cmd_id == MAV_CMD_NAV_LAND && plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)) {
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plane.takeoff_calc_roll();
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plane.takeoff_calc_pitch();
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plane.calc_throttle();
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} else if (nav_cmd_id == MAV_CMD_NAV_LAND) {
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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// allow landing to restrict the roll limits
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plane.nav_roll_cd = plane.landing.constrain_roll(plane.nav_roll_cd, plane.g.level_roll_limit*100UL);
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if (plane.landing.is_throttle_suppressed()) {
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// if landing is considered complete throttle is never allowed, regardless of landing type
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
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} else {
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plane.calc_throttle();
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}
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} else {
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// we are doing normal AUTO flight, the special cases
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// are for takeoff and landing
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if (nav_cmd_id != MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT) {
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plane.steer_state.hold_course_cd = -1;
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}
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plane.calc_nav_roll();
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plane.calc_nav_pitch();
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plane.calc_throttle();
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}
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}
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void ModeAuto::navigate()
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{
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if (AP::ahrs().home_is_set()) {
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plane.mission.update();
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}
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}
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