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Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior

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Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
This commit is contained in:
Tom Pittenger 2015-08-24 03:06:24 -07:00 committed by Andrew Tridgell
parent 4771d19073
commit 6e55b44b63
2 changed files with 41 additions and 11 deletions
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4
ArduPlane/ArduPlane.cpp
View File

@ -523,7 +523,9 @@ void Plane::handle_auto_mode(void)
default:
// we are doing normal AUTO flight, the special cases
// are for takeoff and landing
steer_state.hold_course_cd = -1;
if (nav_cmd_id != MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT) {
steer_state.hold_course_cd = -1;
}
auto_state.land_complete = false;
calc_nav_roll();
calc_nav_pitch();

48
ArduPlane/commands_logic.cpp
View File

@ -376,6 +376,26 @@ void Plane::do_loiter_time(const AP_Mission::Mission_Command& cmd)
void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
{
// select heading method. Either mission, gps bearing projection or yaw based
// If prev_WP_loc and next_WP_loc are different then an accurate wp based bearing can
// be computed. However, if we had just changed modes before this, such as an aborted landing
// via mode change, the prev and next wps are the same.
float bearing;
if (!locations_are_same(prev_WP_loc, next_WP_loc)) {
// use waypoint based bearing, this is the usual case
steer_state.hold_course_cd = -1;
} else if (ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// use gps ground course based bearing hold
steer_state.hold_course_cd = -1;
bearing = ahrs.get_gps().ground_course_cd() * 0.01f;
location_update(next_WP_loc, bearing, 1000); // push it out 1km
} else {
// use yaw based bearing hold
steer_state.hold_course_cd = wrap_360_cd(ahrs.yaw_sensor);
bearing = ahrs.yaw_sensor * 0.01f;
location_update(next_WP_loc, bearing, 1000); // push it out 1km
}
next_WP_loc.alt = cmd.content.location.alt + home.alt;
condition_value = cmd.p1;
reset_offset_altitude();
@ -645,6 +665,24 @@ bool Plane::verify_RTL()
bool Plane::verify_continue_and_change_alt()
{
// is waypoint info not available and heading hold is?
if (locations_are_same(prev_WP_loc, next_WP_loc) &&
steer_state.hold_course_cd != -1) {
//keep flying the same course with fixed steering heading computed at start if cmd
nav_controller->update_heading_hold(steer_state.hold_course_cd);
}
else {
// Is the next_WP less than 200 m away?
if (get_distance(current_loc, next_WP_loc) < 200.0f) {
//push another 300 m down the line
int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
}
//keep flying the same course
nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
}
//climbing?
if (condition_value == 1 && adjusted_altitude_cm() >= next_WP_loc.alt) {
return true;
@ -658,16 +696,6 @@ bool Plane::verify_continue_and_change_alt()
else if (labs(adjusted_altitude_cm() - next_WP_loc.alt) <= 500) {
return true;
}
// Is the next_WP less than 200 m away?
if (get_distance(current_loc, next_WP_loc) < 200.0f) {
//push another 300 m down the line
int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f);
}
//keep flying the same course
nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
return false;
}