Plane: Refactor soaring.cpp.
This commit is contained in:
Samuel Tabor
Peter Barker
parent
d87986ecdd
commit
b2d63c5049
@ -783,7 +783,7 @@ private:
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float rudder_dt;
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// soaring mode-change timer
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uint32_t soaring_mode_timer;
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uint32_t soaring_mode_timer_ms;
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// terrain disable for non AUTO modes, set with an RC Option switch
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bool non_auto_terrain_disable;
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@ -1072,6 +1072,8 @@ private:
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// soaring.cpp
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#if SOARING_ENABLED == ENABLED
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void update_soaring();
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bool soaring_exit_heading_aligned() const;
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void soaring_restore_mode(const char *reason, ModeReason modereason, Mode &exit_mode);
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#endif
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// reverse_thrust.cpp
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@ -66,156 +66,120 @@ void Plane::update_soaring() {
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// Update thermal estimate and check for switch back to AUTO
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g2.soaring_controller.update_thermalling(); // Update estimate
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// Thermalling is done in a home-relative coordinate system, so we need home to be set.
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Vector3f position;
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if (!ahrs.get_relative_position_NED_home(position)) {
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return;
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}
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// Check distance to home against MAX_RADIUS.
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if (g2.soaring_controller.max_radius >= 0 &&
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powf(position.x,2)+powf(position.y,2) > powf(g2.soaring_controller.max_radius,2) &&
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previous_mode->mode_number()!=Mode::Number::AUTO) {
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// Some other loiter status, and outside of maximum soaring radius, and previous mode wasn't AUTO
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Outside SOAR_MAX_RADIUS, RTL");
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set_mode(mode_rtl, ModeReason::SOARING_DRIFT_EXCEEDED);
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break;
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}
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// If previous mode was AUTO and there was a previous NAV command, we can use previous and next wps for drift calculation
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// with respect to the desired direction of travel. If these vectors are zero, drift will be calculated from thermal start
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// position only, without taking account of the desired direction of travel.
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Vector2f prev_wp, next_wp;
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// If previous mode was AUTO and there was a previous NAV command, we can use previous and next wps for drift calculation.
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if (previous_mode->mode_number() == Mode::Number::AUTO) {
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if (previous_mode == &mode_auto) {
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AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();
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AP_Mission::Mission_Command prev_nav_cmd;
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if (!(mission.get_next_nav_cmd(mission.get_prev_nav_cmd_with_wp_index(), prev_nav_cmd) &&
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prev_nav_cmd.content.location.get_vector_xy_from_origin_NE(prev_wp) &&
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prev_nav_cmd.content.location.get_vector_xy_from_origin_NE(prev_wp) &&
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current_nav_cmd.content.location.get_vector_xy_from_origin_NE(next_wp))) {
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prev_wp.x = 0.0;
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prev_wp.y = 0.0;
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next_wp.x = 0.0;
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next_wp.y = 0.0;
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prev_wp.zero();
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next_wp.zero();
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}
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}
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// Get the status of the soaring controller cruise checks.
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const SoaringController::LoiterStatus loiterStatus = g2.soaring_controller.check_cruise_criteria(prev_wp/100, next_wp/100);
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if (loiterStatus == SoaringController::LoiterStatus::GOOD_TO_KEEP_LOITERING) {
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// Reset loiter angle, so that the loiter exit heading criteria
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// only starts expanding when we're ready to exit.
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plane.loiter.sum_cd = 0;
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plane.soaring_mode_timer = AP_HAL::millis();
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plane.soaring_mode_timer_ms = AP_HAL::millis();
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//update the wp location
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g2.soaring_controller.get_target(next_WP_loc);
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break;
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}
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// Some other loiter status, we need to think about exiting loiter.
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uint32_t timer = AP_HAL::millis() - plane.soaring_mode_timer;
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const uint32_t time_in_loiter_ms = AP_HAL::millis() - plane.soaring_mode_timer_ms;
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// Check distance to home.
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Vector3f position;
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if (!ahrs.get_relative_position_NED_home(position)) {
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return;
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} else if (g2.soaring_controller.max_radius >= 0 &&
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powf(position.x,2)+powf(position.y,2) > powf(g2.soaring_controller.max_radius,2) &&
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previous_mode->mode_number()!=Mode::Number::AUTO) {
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// Some other loiter status, and outside of maximum soaring radius, and previous mode wasn't AUTO
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Outside SOAR_MAX_RADIUS, RTL");
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set_mode(mode_rtl, ModeReason::SOARING_DRIFT_EXCEEDED);
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if (!soaring_exit_heading_aligned() && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && time_in_loiter_ms < 20000) {
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// Heading not lined up, and not timed out or in a condition requiring immediate exit.
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break;
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}
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const char* strTooHigh = "Soaring: Too high, restoring ";
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const char* strTooLow = "Soaring: Too low, restoring ";
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const char* strTooWeak = "Soaring: Thermal ended, restoring ";
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const char* strTooFar = "Soaring: Drifted too far, restoring ";
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// Heading lined up and loiter status not good to continue. Need to switch mode.
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// Exit as soon as thermal state estimate deteriorates and we're lined up to next target
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switch (previous_mode->mode_number()){
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case Mode::Number::FLY_BY_WIRE_B: {
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const bool homeIsSet = AP::ahrs().home_is_set();
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const bool headingLinedupToHome = homeIsSet && plane.mode_loiter.isHeadingLinedUp(next_WP_loc, AP::ahrs().get_home());
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if (homeIsSet && !headingLinedupToHome && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
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break;
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}
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switch (loiterStatus) {
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case SoaringController::LoiterStatus::ALT_TOO_HIGH:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_fbwb.name());
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set_mode(mode_fbwb, ModeReason::SOARING_ALT_TOO_HIGH);
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break;
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case SoaringController::LoiterStatus::ALT_TOO_LOW:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooLow, mode_rtl.name());
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set_mode(mode_rtl, ModeReason::SOARING_ALT_TOO_LOW);
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break;
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default:
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case SoaringController::LoiterStatus::THERMAL_WEAK:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_fbwb.name());
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set_mode(mode_fbwb, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
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break;
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case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooFar, mode_fbwb.name());
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set_mode(mode_fbwb, ModeReason::SOARING_DRIFT_EXCEEDED);
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break;
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} // switch louterStatus
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break;
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}
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// Determine appropriate mode.
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Mode* exit_mode = previous_mode;
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case Mode::Number::CRUISE: {
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const bool headingLinedupToCruise = plane.mode_loiter.isHeadingLinedUp_cd(cruise_state.locked_heading_cd);
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if (cruise_state.locked_heading && !headingLinedupToCruise && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
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break;
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}
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// return to cruise with old ground course
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const CruiseState cruise = cruise_state;
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switch (loiterStatus) {
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case SoaringController::LoiterStatus::ALT_TOO_HIGH:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_cruise.name());
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set_mode(mode_cruise, ModeReason::SOARING_ALT_TOO_HIGH);
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break;
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case SoaringController::LoiterStatus::ALT_TOO_LOW:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooLow, mode_rtl.name());
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set_mode(mode_rtl, ModeReason::SOARING_ALT_TOO_LOW);
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break;
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default:
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case SoaringController::LoiterStatus::THERMAL_WEAK:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_cruise.name());
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set_mode(mode_cruise, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
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break;
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case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooFar, mode_cruise.name());
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set_mode(mode_cruise, ModeReason::SOARING_DRIFT_EXCEEDED);
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break;
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} // switch loiterStatus
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cruise_state = cruise;
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set_target_altitude_current();
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break;
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} // case Cruise
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if (loiterStatus == SoaringController::LoiterStatus::ALT_TOO_LOW &&
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((previous_mode == &mode_cruise) || (previous_mode == &mode_fbwb))) {
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exit_mode = &mode_rtl;
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}
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case Mode::Number::AUTO: {
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//Get the lat/lon of next Nav waypoint after this one:
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AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();;
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const bool headingLinedupToWP = plane.mode_loiter.isHeadingLinedUp(next_WP_loc, current_nav_cmd.content.location);
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if (!headingLinedupToWP && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
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break;
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}
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switch (loiterStatus) {
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case SoaringController::LoiterStatus::ALT_TOO_HIGH:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_auto.name());
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set_mode(mode_auto, ModeReason::SOARING_ALT_TOO_HIGH);
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break;
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case SoaringController::LoiterStatus::ALT_TOO_LOW:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooLow, mode_auto.name());
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set_mode(mode_auto, ModeReason::SOARING_ALT_TOO_LOW);
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break;
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default:
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case SoaringController::LoiterStatus::THERMAL_WEAK:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_auto.name());
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set_mode(mode_auto, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
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break;
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case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooFar, mode_auto.name());
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set_mode(mode_auto, ModeReason::SOARING_DRIFT_EXCEEDED);
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break;
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} // switch loiterStatus
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// Print message and set mode.
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switch (loiterStatus) {
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case SoaringController::LoiterStatus::ALT_TOO_HIGH:
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soaring_restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH, *exit_mode);
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break;
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} // case AUTO
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default: // all other modes
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case SoaringController::LoiterStatus::ALT_TOO_LOW:
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soaring_restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW, *exit_mode);
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break;
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} // switch previous_mode
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default:
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case SoaringController::LoiterStatus::THERMAL_WEAK:
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soaring_restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED, *exit_mode);
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break;
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case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
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soaring_restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED, *exit_mode);
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break;
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} // switch loiterStatus
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break;
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} // case loiter
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} // case loiter
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} // switch control_mode
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}
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if (control_mode == &mode_loiter) {
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// still in thermal - need to update the wp location
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g2.soaring_controller.get_target(next_WP_loc);
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bool Plane::soaring_exit_heading_aligned() const
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{
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// Return true if the current heading is aligned with the next objective.
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// If home is not set, or heading not locked, return true to avoid delaying mode change.
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switch (previous_mode->mode_number()) {
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case Mode::Number::AUTO: {
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//Get the lat/lon of next Nav waypoint after this one:
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AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();;
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return plane.mode_loiter.isHeadingLinedUp(next_WP_loc, current_nav_cmd.content.location);
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}
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case Mode::Number::FLY_BY_WIRE_B:
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return (!AP::ahrs().home_is_set() || plane.mode_loiter.isHeadingLinedUp(next_WP_loc, AP::ahrs().get_home()));
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case Mode::Number::CRUISE:
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return (!cruise_state.locked_heading || plane.mode_loiter.isHeadingLinedUp_cd(cruise_state.locked_heading_cd));
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default:
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break;
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}
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return true;
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}
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void Plane::soaring_restore_mode(const char *reason, ModeReason modereason, Mode &exit_mode)
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{
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gcs().send_text(MAV_SEVERITY_INFO, "Soaring: %s, restoring %s", reason, exit_mode.name());
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set_mode(exit_mode, modereason);
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}
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#endif // SOARING_ENABLED
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