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28 lines
583 B
28 lines
583 B
#include "mode.h" |
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#include "Rover.h" |
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bool ModeRTL::_enter() |
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{ |
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rover.prev_WP = rover.current_loc; |
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rover.next_WP = rover.home; |
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g2.motors.slew_limit_throttle(true); |
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return true; |
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} |
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void ModeRTL::update() |
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{ |
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if (!rover.in_auto_reverse) { |
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rover.set_reverse(false); |
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} |
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calc_lateral_acceleration(); |
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calc_nav_steer(); |
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calc_throttle(g.speed_cruise); |
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} |
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void ModeRTL::update_navigation() |
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{ |
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// no loitering around the wp with the rover, goes direct to the wp position |
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if (rover.verify_RTL()) { |
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rover.set_mode(rover.mode_hold); |
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} |
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}
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