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Copter: implement get_target_location/update_target_location for lua

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TsuyoshiKawamura 2024-01-18 00:52:07 +09:00 committed by Randy Mackay
parent 5ab2aaffff
commit 5f5e0e65e0
2 changed files with 36 additions and 0 deletions
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34
ArduCopter/Copter.cpp
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@ -446,6 +446,40 @@ bool Copter::has_ekf_failsafed() const
return failsafe.ekf; return failsafe.ekf;
} }
// get target location (for use by scripting)
bool Copter::get_target_location(Location& target_loc)
{
switch (flightmode->mode_number()) {
case Mode::Number::RTL:
case Mode::Number::SMART_RTL:
case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED:
case Mode::Number::AUTO:
case Mode::Number::FOLLOW:
return flightmode->get_wp(target_loc);
break;
default:
break;
}
return false;
}
/*
update_target_location() acts as a wrapper for set_target_location
*/
bool Copter::update_target_location(const Location &old_loc, const Location &new_loc)
{
Location next_WP_loc;
flightmode->get_wp(next_WP_loc);
if (!old_loc.same_loc_as(next_WP_loc)) {
return false;
}
next_WP_loc = new_loc;
next_WP_loc.change_alt_frame(old_loc.get_alt_frame());
return set_target_location(next_WP_loc);
}
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
// returns true if vehicle is landing. Only used by Lua scripts // returns true if vehicle is landing. Only used by Lua scripts

2
ArduCopter/Copter.h
View File

@ -670,6 +670,8 @@ private:
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
#if MODE_GUIDED_ENABLED == ENABLED #if MODE_GUIDED_ENABLED == ENABLED
bool start_takeoff(float alt) override; bool start_takeoff(float alt) override;
bool get_target_location(Location& target_loc) override;
bool update_target_location(const Location &old_loc, const Location &new_loc) override;
bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override; bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) override;
bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override; bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) override; bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) override;