// do_loiter_unlimited - start loitering with no end conditions
// note: caller should set yaw_mode
void Copter::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
// convert back to location
Location_Class target_loc(cmd.content.location);
// use current location if not provided
if (target_loc.lat == 0 && target_loc.lng == 0) {
// To-Do: make this simpler
Vector3f temp_pos;
wp_nav.get_wp_stopping_point_xy(temp_pos);
Location_Class temp_loc(temp_pos);
target_loc.lat = temp_loc.lat;
target_loc.lng = temp_loc.lng;
}
// use current altitude if not provided
// To-Do: use z-axis stopping point instead of current alt
if (target_loc.alt == 0) {
// set to current altitude but in command's alt frame
int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else {
// default to current altitude as alt-above-home
target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
}
}
// start way point navigator and provide it the desired location
auto_wp_start(target_loc);
}
// do_loiter_unlimited - start loitering with no end conditions
// note: caller should set yaw_mode
void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
// convert back to location
Location_Class target_loc(cmd.content.location);
// use current location if not provided
if (target_loc.lat == 0 && target_loc.lng == 0) {
// To-Do: make this simpler
Vector3f temp_pos;
wp_nav.get_wp_stopping_point_xy(temp_pos);
Location_Class temp_loc(temp_pos);
target_loc.lat = temp_loc.lat;
target_loc.lng = temp_loc.lng;
}
// In mavproxy misseditor: Abs = 0 = ALT_FRAME_ABSOLUTE
// Rel = 1 = ALT_FRAME_ABOVE_HOME
// AGL = 3 = ALT_FRAME_ABOVE_TERRAIN
// 2 = ALT_FRAME_ABOVE_ORIGIN, not an option in mavproxy misseditor
// use current altitude if not provided
// To-Do: use z-axis stopping point instead of current alt
if (target_loc.alt == 0) {
// set to current altitude but in command's alt frame
int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else {
// default to current altitude as alt-above-home
target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
}
}
// start way point navigator and provide it the desired location
auto_wp_start(target_loc);
}
