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89 lines
2.2 KiB
89 lines
2.2 KiB
// -*- 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(SEVERITY_LOW, 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(SEVERITY_LOW, 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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// 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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