mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.2 KiB
C++
74 lines
2.2 KiB
C++
#include "mode.h"
|
|
#include "Rover.h"
|
|
|
|
// initialize follow mode
|
|
bool ModeFollow::_enter()
|
|
{
|
|
if (!g2.follow.enabled()) {
|
|
return false;
|
|
}
|
|
|
|
// initialise waypoint speed
|
|
set_desired_speed_to_default();
|
|
|
|
// initialise heading to current heading
|
|
_desired_yaw_cd = ahrs.yaw_sensor;
|
|
_yaw_error_cd = 0.0f;
|
|
|
|
return true;
|
|
}
|
|
|
|
void ModeFollow::update()
|
|
{
|
|
// stop vehicle if no speed estimate
|
|
float speed;
|
|
if (!attitude_control.get_forward_speed(speed)) {
|
|
// no valid speed so stop
|
|
g2.motors.set_throttle(0.0f);
|
|
g2.motors.set_steering(0.0f);
|
|
return;
|
|
}
|
|
|
|
Vector3f dist_vec; // vector to lead vehicle
|
|
Vector3f dist_vec_offs; // vector to lead vehicle + offset
|
|
Vector3f vel_of_target; // velocity of lead vehicle
|
|
|
|
// if no target simply stop the vehicle
|
|
if (!g2.follow.get_target_dist_and_vel_ned(dist_vec, dist_vec_offs, vel_of_target)) {
|
|
_reached_destination = true;
|
|
stop_vehicle();
|
|
return;
|
|
}
|
|
|
|
// calculate desired velocity vector
|
|
Vector2f desired_velocity_ne;
|
|
const float kp = g2.follow.get_pos_p().kP();
|
|
desired_velocity_ne.x = vel_of_target.x + (dist_vec_offs.x * kp);
|
|
desired_velocity_ne.y = vel_of_target.y + (dist_vec_offs.y * kp);
|
|
|
|
// if desired velocity is zero stop vehicle
|
|
if (is_zero(desired_velocity_ne.x) && is_zero(desired_velocity_ne.y)) {
|
|
_reached_destination = true;
|
|
stop_vehicle();
|
|
return;
|
|
}
|
|
|
|
// we have not reached the target
|
|
_reached_destination = false;
|
|
|
|
// scale desired velocity to stay within horizontal speed limit
|
|
float desired_speed = safe_sqrt(sq(desired_velocity_ne.x) + sq(desired_velocity_ne.y));
|
|
if (!is_zero(desired_speed) && (desired_speed > _desired_speed)) {
|
|
const float scalar_xy = _desired_speed / desired_speed;
|
|
desired_velocity_ne *= scalar_xy;
|
|
desired_speed = _desired_speed;
|
|
}
|
|
|
|
// calculate vehicle heading
|
|
_desired_yaw_cd = wrap_180_cd(atan2f(desired_velocity_ne.y, desired_velocity_ne.x) * DEGX100);
|
|
|
|
// run steering and throttle controllers
|
|
calc_steering_to_heading(_desired_yaw_cd, desired_speed < 0);
|
|
calc_throttle(calc_reduced_speed_for_turn_or_distance(desired_speed), false, true);
|
|
}
|