// guided_set_destination - sets guided mode's target destination
// Returns true if the fence is enabled and guided waypoint is within the fence
// else return false if the waypoint is outside the fence
bool Copter::ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
pos_control_start();
}
#if AC_FENCE == ENABLED
// reject destination if outside the fence
const Location dest_loc(destination);
if (!copter.fence.check_destination_within_fence(dest_loc)) {
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;
}
#endif
// set yaw state
set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);
// no need to check return status because terrain data is not used
wp_nav->set_wp_destination(destination, false);
// log target
copter.Log_Write_GuidedTarget(guided_mode, destination, Vector3f());
return true;
}
// sets guided mode's target from a Location object
// returns false if destination could not be set (probably caused by missing terrain data)
// or if the fence is enabled and guided waypoint is outside the fence
bool Copter::ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw)
{
// ensure we are in position control mode
if (guided_mode != Guided_WP) {
pos_control_start();
}
#if AC_FENCE == ENABLED
// reject destination outside the fence.
// Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
if (!copter.fence.check_destination_within_fence(dest_loc)) {
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
return false;
}
#endif
if (!wp_nav->set_wp_destination(dest_loc)) {
// failure to set destination can only be because of missing terrain data
copter.Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION);
// failure is propagated to GCS with NAK
return false;
}
// set yaw state
set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);
// log target
copter.Log_Write_GuidedTarget(guided_mode, Vector3f(dest_loc.lat, dest_loc.lng, dest_loc.alt),Vector3f());
return true;
}
// guided_init - initialise guided controller
bool Copter::ModeGuided::init(bool ignore_checks)
{
if (copter.position_ok() || ignore_checks) {
// start in position control mode
pos_control_start();
return true;
}else{
return false;
}
}
// guided_init - initialise guided controller
bool Copter::ModeGuided::init(bool ignore_checks)
{
// start in position control mode
pos_control_start();
return true;
}
