You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
111 lines
2.9 KiB
111 lines
2.9 KiB
#include "Rover.h" |
|
|
|
/* Functions in this file: |
|
void set_next_WP(const AP_Mission::Mission_Command& cmd) |
|
void set_guided_WP(void) |
|
void init_home() |
|
void restart_nav() |
|
************************************************************ |
|
*/ |
|
|
|
|
|
/* |
|
* set_next_WP - sets the target location the vehicle should fly to |
|
*/ |
|
void Rover::set_next_WP(const struct Location& loc) |
|
{ |
|
// copy the current WP into the OldWP slot |
|
// --------------------------------------- |
|
prev_WP = next_WP; |
|
|
|
// Load the next_WP slot |
|
// --------------------- |
|
next_WP = loc; |
|
|
|
// are we already past the waypoint? This happens when we jump |
|
// waypoints, and it can cause us to skip a waypoint. If we are |
|
// past the waypoint when we start on a leg, then use the current |
|
// location as the previous waypoint, to prevent immediately |
|
// considering the waypoint complete |
|
if (location_passed_point(current_loc, prev_WP, next_WP)) { |
|
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous WP"); |
|
prev_WP = current_loc; |
|
} |
|
|
|
// this is handy for the groundstation |
|
wp_totalDistance = get_distance(current_loc, next_WP); |
|
wp_distance = wp_totalDistance; |
|
} |
|
|
|
void Rover::set_guided_WP(void) |
|
{ |
|
// copy the current location into the OldWP slot |
|
// --------------------------------------- |
|
prev_WP = current_loc; |
|
|
|
// Load the next_WP slot |
|
// --------------------- |
|
next_WP = guided_WP; |
|
|
|
// this is handy for the groundstation |
|
wp_totalDistance = get_distance(current_loc, next_WP); |
|
wp_distance = wp_totalDistance; |
|
} |
|
|
|
// run this at setup on the ground |
|
// ------------------------------- |
|
void Rover::init_home() |
|
{ |
|
if (!have_position) { |
|
// we need position information |
|
return; |
|
} |
|
|
|
gcs_send_text(MAV_SEVERITY_INFO, "Init HOME"); |
|
|
|
ahrs.set_home(gps.location()); |
|
home_is_set = HOME_SET_NOT_LOCKED; |
|
Log_Write_Home_And_Origin(); |
|
GCS_MAVLINK::send_home_all(gps.location()); |
|
|
|
// Save Home to EEPROM |
|
mission.write_home_to_storage(); |
|
|
|
// Save prev loc |
|
// ------------- |
|
next_WP = prev_WP = home; |
|
|
|
// Load home for a default guided_WP |
|
// ------------- |
|
guided_WP = home; |
|
} |
|
|
|
void Rover::restart_nav() |
|
{ |
|
g.pidSpeedThrottle.reset_I(); |
|
prev_WP = current_loc; |
|
mission.start_or_resume(); |
|
} |
|
|
|
/* |
|
update home location from GPS |
|
this is called as long as we have 3D lock and the arming switch is |
|
not pushed |
|
*/ |
|
void Rover::update_home() |
|
{ |
|
if (home_is_set == HOME_SET_NOT_LOCKED) { |
|
Location loc = gps.location(); |
|
Location origin; |
|
// if an EKF origin is available then we leave home equal to |
|
// the height of that origin. This ensures that our relative |
|
// height calculations are using the same origin |
|
if (ahrs.get_origin(origin)) { |
|
loc.alt = origin.alt; |
|
} |
|
ahrs.set_home(loc); |
|
Log_Write_Home_And_Origin(); |
|
GCS_MAVLINK::send_home_all(gps.location()); |
|
} |
|
barometer.update_calibration(); |
|
}
|
|
|