aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Plane: implement get and set target location

Browse Source
This commit is contained in:
Andrew Tridgell 2020-03-06 21:11:09 +11:00
parent d192544107
commit 9f92aad711
2 changed files with 40 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
ArduPlane/ArduPlane.cpp
View File

@ -699,4 +699,42 @@ void Plane::publish_osd_info()
}
#endif
// set target location (for use by scripting)
bool Plane::set_target_location(const Location& target_loc)
{
if (plane.control_mode != &plane.mode_guided) {
// only accept position updates when in GUIDED mode
return false;
}
plane.guided_WP_loc = target_loc;
// add home alt if needed
if (plane.guided_WP_loc.relative_alt) {
plane.guided_WP_loc.alt += plane.home.alt;
plane.guided_WP_loc.relative_alt = 0;
}
plane.set_guided_WP();
return true;
}
// set target location (for use by scripting)
bool Plane::get_target_location(Location& target_loc)
{
switch (control_mode->mode_number()) {
case Mode::Number::RTL:
case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED:
case Mode::Number::AUTO:
case Mode::Number::LOITER:
case Mode::Number::QLOITER:
case Mode::Number::QLAND:
case Mode::Number::QRTL:
target_loc = next_WP_loc;
return true;
break;
default:
break;
}
return false;
}
AP_HAL_MAIN_CALLBACKS(&plane);

2
ArduPlane/Plane.h
View File

@ -1040,6 +1040,8 @@ private:
public:
void failsafe_check(void);
bool set_target_location(const Location& target_loc) override;
bool get_target_location(Location& target_loc) override;
};
extern Plane plane;