mirror of https://github.com/ArduPilot/ardupilot
92 lines
3.3 KiB
Plaintext
92 lines
3.3 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
* control_guided.pde - init and run calls for guided flight mode
|
|
*/
|
|
|
|
#ifndef GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM
|
|
# define GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM 500 // point nose at target if it is more than 5m away
|
|
#endif
|
|
|
|
static bool guided_pilot_yaw_override_yaw = false;
|
|
|
|
// guided_init - initialise guided controller
|
|
static bool guided_init(bool ignore_checks)
|
|
{
|
|
if (GPS_ok() || ignore_checks) {
|
|
// initialise wpnav to stopping point at current altitude
|
|
// To-Do: set to current location if disarmed?
|
|
// To-Do: set to stopping point altitude?
|
|
Vector3f stopping_point;
|
|
stopping_point.z = inertial_nav.get_altitude();
|
|
wp_nav.get_wp_stopping_point_xy(stopping_point);
|
|
wp_nav.set_wp_destination(stopping_point);
|
|
guided_pilot_yaw_override_yaw = false;
|
|
// initialise yaw to hold at current heading (reset to point at waypoint in guided_set_destination)
|
|
set_auto_yaw_mode(AUTO_YAW_HOLD);
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// guided_set_destination - sets guided mode's target destination
|
|
static void guided_set_destination(const Vector3f& destination)
|
|
{
|
|
if (control_mode == GUIDED) {
|
|
wp_nav.set_wp_destination(destination);
|
|
if (!guided_pilot_yaw_override_yaw) {
|
|
// get default yaw mode
|
|
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
|
|
// point nose at next waypoint if it is more than 10m away
|
|
if (auto_yaw_mode == AUTO_YAW_LOOK_AT_NEXT_WP) {
|
|
// get distance to new location
|
|
wp_distance = wp_nav.get_wp_distance_to_destination();
|
|
// set original_wp_bearing to point at next waypoint
|
|
if (wp_distance >= GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM) {
|
|
original_wp_bearing = wp_bearing;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// guided_run - runs the guided controller
|
|
// should be called at 100hz or more
|
|
static void guided_run()
|
|
{
|
|
// if not auto armed set throttle to zero and exit immediately
|
|
if(!ap.auto_armed) {
|
|
// To-Do: reset waypoint controller?
|
|
attitude_control.init_targets();
|
|
attitude_control.set_throttle_out(0, false);
|
|
// To-Do: handle take-offs - these may not only be immediately after auto_armed becomes true
|
|
return;
|
|
}
|
|
|
|
// process pilot's yaw input
|
|
float target_yaw_rate = 0;
|
|
if (!failsafe.radio) {
|
|
// get pilot's desired yaw rate
|
|
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
|
|
if (target_yaw_rate != 0) {
|
|
set_auto_yaw_mode(AUTO_YAW_HOLD);
|
|
}
|
|
}
|
|
|
|
// run waypoint controller
|
|
wp_nav.update_wpnav();
|
|
|
|
// call z-axis position controller (wpnav should have already updated it's alt target)
|
|
pos_control.update_z_controller();
|
|
|
|
// call attitude controller
|
|
if (auto_yaw_mode == AUTO_YAW_HOLD) {
|
|
// roll & pitch from waypoint controller, yaw rate from pilot
|
|
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
|
|
}else{
|
|
// roll, pitch from waypoint controller, yaw heading from auto_heading()
|
|
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
|
|
}
|
|
}
|