void Plane::set_guided_WP(void)
{
if (g.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP_loc = current_loc;
// Load the next_WP slot
// ---------------------
next_WP_loc = guided_WP_loc;
// used to control FBW and limit the rate of climb
// -----------------------------------------------
set_target_altitude_current();
update_flight_stage();
setup_glide_slope();
setup_turn_angle();
// reset loiter start time.
loiter.start_time_ms = 0;
// start in non-VTOL mode
auto_state.vtol_loiter = false;
loiter_angle_reset();
}
/*
* set_next_WP - sets the target location the vehicle should fly to
*/
void Plane::set_next_WP(const struct Location &loc)
{
if (auto_state.next_wp_no_crosstrack) {
// we should not try to cross-track for this waypoint
prev_WP_loc = current_loc;
// use cross-track for the next waypoint
auto_state.next_wp_no_crosstrack = false;
auto_state.no_crosstrack = true;
} else {
// copy the current WP into the OldWP slot
prev_WP_loc = next_WP_loc;
auto_state.no_crosstrack = false;
}
// Load the next_WP slot
// ---------------------
next_WP_loc = loc;
// if lat and lon is zero, then use current lat/lon
// this allows a mission to contain a "loiter on the spot"
// command
if (next_WP_loc.lat == 0 && next_WP_loc.lng == 0) {
next_WP_loc.lat = current_loc.lat;
next_WP_loc.lng = current_loc.lng;
// additionally treat zero altitude as current altitude
if (next_WP_loc.alt == 0) {
next_WP_loc.alt = current_loc.alt;
next_WP_loc.flags.relative_alt = false;
next_WP_loc.flags.terrain_alt = false;
}
}
// convert relative alt to absolute alt
if (next_WP_loc.flags.relative_alt) {
next_WP_loc.flags.relative_alt = false;
next_WP_loc.alt += home.alt;
}
// 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_loc, next_WP_loc)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
prev_WP_loc = current_loc;
}
// used to control FBW and limit the rate of climb
// -----------------------------------------------
set_target_altitude_location(next_WP_loc);
// zero out our loiter vals to watch for missed waypoints
loiter_angle_reset();
setup_glide_slope();
setup_turn_angle();
loiter_angle_reset();
}
void Plane::set_guided_WP(void)
{
if (g.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP_loc = current_loc;
// Load the next_WP slot
// ---------------------
next_WP_loc = guided_WP_loc;
// used to control FBW and limit the rate of climb
// -----------------------------------------------
set_target_altitude_current();
update_flight_stage();
setup_glide_slope();
setup_turn_angle();
loiter_angle_reset();
}
// exit_mission_callback - callback function called from ap-mission when the mission has completed
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
void Plane::exit_mission_callback()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(PSTR("Returning to Home"));
memset(&auto_rtl_command, 0, sizeof(auto_rtl_command));
auto_rtl_command.content.location =
rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
auto_rtl_command.id = MAV_CMD_NAV_LOITER_UNLIM;
setup_terrain_target_alt(auto_rtl_command.content.location);
update_flight_stage();
setup_glide_slope();
setup_turn_angle();
start_command(auto_rtl_command);
}
}
void Plane::do_RTL(int32_t rtl_altitude)
{
auto_state.next_wp_no_crosstrack = true;
auto_state.no_crosstrack = true;
prev_WP_loc = current_loc;
next_WP_loc = rally.calc_best_rally_or_home_location(current_loc, rtl_altitude);
setup_terrain_target_alt(next_WP_loc);
set_target_altitude_location(next_WP_loc);
if (aparm.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
setup_glide_slope();
setup_turn_angle();
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
}
