// verify_circle - check if we have circled the point enough
bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
{
// check if we've reached the edge
if (auto_mode == Auto_CircleMoveToEdge) {
if (wp_nav.reached_wp_destination()) {
Vector3f curr_pos = inertial_nav.get_position();
Vector3f circle_center = pv_location_to_vector(cmd.content.location);
// set target altitude if not provided
if (is_zero(circle_center.z)) {
circle_center.z = curr_pos.z;
}
// set lat/lon position if not provided
if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
circle_center.x = curr_pos.x;
circle_center.y = curr_pos.y;
}
// start circling
auto_circle_start();
}
return false;
}
// check if we have completed circling
return fabsf(circle_nav.get_angle_total()/M_2PI) >= LOWBYTE(cmd.p1);
}
// auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
// we assume the caller has performed all required GPS_ok checks
void Copter::auto_circle_movetoedge_start(const Location_Class &circle_center, float radius_m)
{
// convert location to vector from ekf origin
Vector3f circle_center_neu;
if (!circle_center.get_vector_from_origin_NEU(circle_center_neu)) {
// default to current position and log error
circle_center_neu = inertial_nav.get_position();
Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_CIRCLE_INIT);
}
circle_nav.set_center(circle_center_neu);
// set circle radius
if (!is_zero(radius_m)) {
circle_nav.set_radius(radius_m * 100.0f);
}
// check our distance from edge of circle
Vector3f circle_edge_neu;
circle_nav.get_closest_point_on_circle(circle_edge_neu);
float dist_to_edge = (inertial_nav.get_position() - circle_edge_neu).length();
// if more than 3m then fly to edge
if (dist_to_edge > 300.0f) {
// set the state to move to the edge of the circle
auto_mode = Auto_CircleMoveToEdge;
// convert circle_edge_neu to Location_Class
Location_Class circle_edge(circle_edge_neu);
// convert altitude to same as command
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
// initialise wpnav to move to edge of circle
if (!wp_nav.set_wp_destination(circle_edge)) {
// failure to set destination can only be because of missing terrain data
failsafe_terrain_on_event();
}
// if we are outside the circle, point at the edge, otherwise hold yaw
const Vector3f &curr_pos = inertial_nav.get_position();
float dist_to_center = norm(circle_center_neu.x - curr_pos.x, circle_center_neu.y - curr_pos.y);
if (dist_to_center > circle_nav.get_radius() && dist_to_center > 500) {
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
} else {
// vehicle is within circle so hold yaw to avoid spinning as we move to edge of circle
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
} else {
auto_circle_start();
}
}
// do_circle - initiate moving in a circle
void Copter::do_circle(const AP_Mission::Mission_Command& cmd)
{
Vector3f curr_pos = inertial_nav.get_position();
Vector3f circle_center = pv_location_to_vector(cmd.content.location);
uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
bool move_to_edge_required = false;
// set target altitude if not provided
if (cmd.content.location.alt == 0) {
circle_center.z = curr_pos.z;
} else {
move_to_edge_required = true;
}
// set lat/lon position if not provided
// To-Do: use previous command's destination if it was a straight line or spline waypoint command
if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
circle_center.x = curr_pos.x;
circle_center.y = curr_pos.y;
} else {
move_to_edge_required = true;
}
// set circle controller's center
circle_nav.set_center(circle_center);
// set circle radius
if (circle_radius_m != 0) {
circle_nav.set_radius((float)circle_radius_m * 100.0f);
}
// check if we need to move to edge of circle
if (move_to_edge_required) {
// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
auto_circle_movetoedge_start();
} else {
// start circling
auto_circle_start();
}
}
