mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.6 KiB
C++
101 lines
2.6 KiB
C++
#include "Blimp.h"
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// checks if we should update ahrs/RTL home position from the EKF
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void Blimp::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 Blimp::set_home_to_current_location_inflight()
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{
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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_position(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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}
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}
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// set_home_to_current_location - set home to current GPS location
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bool Blimp::set_home_to_current_location(bool lock)
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{
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// get current location from EKF
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Location temp_loc;
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if (ahrs.get_position(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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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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// initialises inertial nav and compass on first call
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// returns true if home location set successfully
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bool Blimp::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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// check home is close to EKF origin
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if (far_from_EKF_origin(loc)) {
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return false;
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}
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const bool home_was_set = ahrs.home_is_set();
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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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// init inav and compass declination
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if (!home_was_set) {
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// record home is set
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AP::logger().Write_Event(LogEvent::SET_HOME);
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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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// far_from_EKF_origin - checks if a location is too far from the EKF origin
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// returns true if too far
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bool Blimp::far_from_EKF_origin(const Location& loc)
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{
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// check distance to EKF origin
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Location ekf_origin;
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if (ahrs.get_origin(ekf_origin) && ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) || (labs(ekf_origin.alt - loc.alt) > EKF_ORIGIN_MAX_DIST_M))) {
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return true;
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}
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// close enough to origin
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return false;
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}
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