// guided_limit_check - returns true if guided mode has breached a limit
// used when guided is invoked from the NAV_GUIDED_ENABLE mission command
bool Copter::guided_limit_check()
{
// check if we have passed the timeout
if ((guided_limit.timeout_ms > 0) && (millis() - guided_limit.start_time >= guided_limit.timeout_ms)) {
return true;
}
// get current location
const Vector3f& curr_pos = inertial_nav.get_position();
// check if we have gone below min alt
if (!is_zero(guided_limit.alt_min_cm) && (curr_pos.z < guided_limit.alt_min_cm)) {
return true;
}
// check if we have gone above max alt
if (!is_zero(guided_limit.alt_max_cm) && (curr_pos.z > guided_limit.alt_max_cm)) {
return true;
}
// check if we have gone beyond horizontal limit
if (guided_limit.horiz_max_cm > 0.0f) {
float horiz_move = pv_get_horizontal_distance_cm(guided_limit.start_pos, curr_pos);
if (horiz_move > guided_limit.horiz_max_cm) {
return true;
}
}
// if we got this far we must be within limits
return false;
}
// fence_check - ask fence library to check for breaches and initiate the response
// called at 1hz
void Sub::fence_check()
{
uint8_t new_breaches; // the type of fence that has been breached
uint8_t orig_breaches = fence.get_breaches();
Vector3f home = pv_location_to_vector(ahrs.get_home());
Vector3f curr = inertial_nav.get_position();
int32_t home_distance = pv_get_horizontal_distance_cm(curr, home);
// give fence library our current distance from home in meters
fence.set_home_distance(home_distance*0.01f);
// check for a breach
new_breaches = fence.check_fence(current_loc.alt/100.0f);
// return immediately if motors are not armed
if (!motors.armed()) {
return;
}
// if there is a new breach take action
if (new_breaches != AC_FENCE_TYPE_NONE) {
// if the user wants some kind of response and motors are armed
if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
//
// // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
// // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
// if (ap.land_complete || (mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.manual_control && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
// init_disarm_motors();
// }else{
// // if we are within 100m of the fence, RTL
// if (fence.get_breach_distance(new_breaches) <= AC_FENCE_GIVE_UP_DISTANCE) {
// if (!set_mode(RTL, MODE_REASON_FENCE_BREACH)) {
// set_mode(LAND, MODE_REASON_FENCE_BREACH);
// }
// }else{
// // if more than 100m outside the fence just force a land
// set_mode(LAND, MODE_REASON_FENCE_BREACH);
// }
// }
}
// log an error in the dataflash
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, new_breaches);
}
// record clearing of breach
if (orig_breaches != AC_FENCE_TYPE_NONE && fence.get_breaches() == AC_FENCE_TYPE_NONE) {
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
}
}
// calc_home_distance_and_bearing - calculate distance and bearing to home for reporting and autopilot decisions
void Copter::calc_home_distance_and_bearing()
{
// calculate home distance and bearing
if (position_ok()) {
Vector3f home = pv_location_to_vector(ahrs.get_home());
Vector3f curr = inertial_nav.get_position();
home_distance = pv_get_horizontal_distance_cm(curr, home);
home_bearing = pv_get_bearing_cd(curr,home);
// update super simple bearing (if required) because it relies on home_bearing
update_super_simple_bearing(false);
}
}
// returns distance between a destination and home in cm
float Sub::pv_distance_to_home_cm(const Vector3f &destination)
{
Vector3f home = pv_location_to_vector(ahrs.get_home());
return pv_get_horizontal_distance_cm(home, destination);
}
