mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.3 KiB
C++
91 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Rover.h"
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/* Functions in this file:
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void set_next_WP(const AP_Mission::Mission_Command& cmd)
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void set_guided_WP(void)
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void init_home()
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void restart_nav()
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************************************************************
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*/
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/*
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* set_next_WP - sets the target location the vehicle should fly to
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*/
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void Rover::set_next_WP(const struct Location& loc)
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{
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// copy the current WP into the OldWP slot
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// ---------------------------------------
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prev_WP = next_WP;
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// Load the next_WP slot
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// ---------------------
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next_WP = loc;
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// are we already past the waypoint? This happens when we jump
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// waypoints, and it can cause us to skip a waypoint. If we are
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// past the waypoint when we start on a leg, then use the current
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// location as the previous waypoint, to prevent immediately
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// considering the waypoint complete
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Resetting prev_WP"));
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prev_WP = current_loc;
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}
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// this is handy for the groundstation
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wp_totalDistance = get_distance(current_loc, next_WP);
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wp_distance = wp_totalDistance;
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}
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void Rover::set_guided_WP(void)
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{
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// copy the current location into the OldWP slot
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// ---------------------------------------
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prev_WP = current_loc;
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// Load the next_WP slot
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// ---------------------
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next_WP = guided_WP;
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// this is handy for the groundstation
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wp_totalDistance = get_distance(current_loc, next_WP);
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wp_distance = wp_totalDistance;
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}
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// run this at setup on the ground
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// -------------------------------
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void Rover::init_home()
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{
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if (!have_position) {
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// we need position information
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return;
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}
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gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("init home"));
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ahrs.set_home(gps.location());
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home_is_set = true;
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Log_Write_Home_And_Origin();
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GCS_MAVLINK::send_home_all(gps.location());
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// Save Home to EEPROM
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mission.write_home_to_storage();
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// Save prev loc
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// -------------
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next_WP = prev_WP = home;
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// Load home for a default guided_WP
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// -------------
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guided_WP = home;
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}
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void Rover::restart_nav()
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{
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g.pidSpeedThrottle.reset_I();
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prev_WP = current_loc;
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mission.start_or_resume();
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}
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