void ModeSmartRTL::update()
{
switch (smart_rtl_state) {
case SmartRTL_WaitForPathCleanup:
// check if return path is computed and if yes, begin journey home
if (g2.smart_rtl.request_thorough_cleanup()) {
smart_rtl_state = SmartRTL_PathFollow;
_load_point = true;
}
// Note: this may lead to an unnecessary 20ms slow down of the vehicle (but it is unlikely)
stop_vehicle();
break;
case SmartRTL_PathFollow:
// load point if required
if (_load_point) {
Vector3f next_point;
if (!g2.smart_rtl.pop_point(next_point)) {
// if not more points, we have reached home
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
smart_rtl_state = SmartRTL_StopAtHome;
break;
}
_load_point = false;
// set target destination to new point
if (!set_desired_location_NED(next_point)) {
// this failure should never happen but we add it just in case
gcs().send_text(MAV_SEVERITY_INFO, "SmartRTL: failed to set destination");
smart_rtl_state = SmartRTL_Failure;
}
}
// check if we've reached the next point
_distance_to_destination = get_distance(rover.current_loc, _destination);
if (_distance_to_destination <= rover.g.waypoint_radius || location_passed_point(rover.current_loc, _origin, _destination)) {
_load_point = true;
}
// continue driving towards destination
calc_steering_to_waypoint(_origin, _destination);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true);
break;
case SmartRTL_StopAtHome:
case SmartRTL_Failure:
_reached_destination = true;
if (rover.is_boat()) {
// boats attempt to hold position at home
calc_steering_to_waypoint(rover.current_loc, _destination);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true);
} else {
// rovers stop
stop_vehicle();
}
break;
}
}
void ModeRTL::update()
{
if (!_reached_destination || rover.is_boat()) {
// calculate distance to home
_distance_to_destination = get_distance(rover.current_loc, _destination);
// check if we've reached the destination
if (!_reached_destination && (_distance_to_destination <= rover.g.waypoint_radius || location_passed_point(rover.current_loc, _origin, _destination))) {
// trigger reached
_reached_destination = true;
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
}
// continue driving towards destination
calc_steering_to_waypoint(_reached_destination ? rover.current_loc :_origin, _destination);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true);
} else {
// we've reached destination so stop
stop_vehicle();
_desired_lat_accel = 0.0f;
}
}
void ModeRTL::update()
{
// calculate distance to home
_distance_to_destination = rover.current_loc.get_distance(_destination);
const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
// check if we've reached the destination
if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) {
// trigger reached
_reached_destination = true;
gcs().send_text(MAV_SEVERITY_INFO, "Reached destination");
}
// determine if we should keep navigating
if (!_reached_destination || (rover.is_boat() && !near_wp)) {
// continue driving towards destination
calc_steering_to_waypoint(_reached_destination ? rover.current_loc :_origin, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
} else {
// we've reached destination so stop
stop_vehicle();
}
}
void ModeGuided::update()
{
switch (_guided_mode) {
case Guided_WP:
{
if (!_reached_destination || rover.is_boat()) {
// check if we've reached the destination
_distance_to_destination = get_distance(rover.current_loc, _destination);
if (!_reached_destination && (_distance_to_destination <= rover.g.waypoint_radius || location_passed_point(rover.current_loc, _origin, _destination))) {
_reached_destination = true;
rover.gcs().send_mission_item_reached_message(0);
}
// drive towards destination
calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true);
} else {
stop_vehicle();
}
break;
}
case Guided_HeadingAndSpeed:
{
// stop vehicle if target not updated within 3 seconds
if (have_attitude_target && (millis() - _des_att_time_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
have_attitude_target = false;
}
if (have_attitude_target) {
// run steering and throttle controllers
const float yaw_error = wrap_PI(radians((_desired_yaw_cd - ahrs.yaw_sensor) * 0.01f));
const float steering_out = attitude_control.get_steering_out_angle_error(yaw_error, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, _desired_speed < 0);
g2.motors.set_steering(steering_out * 4500.0f);
calc_throttle(_desired_speed, true);
} else {
stop_vehicle();
g2.motors.set_steering(0.0f);
}
break;
}
case Guided_TurnRateAndSpeed:
{
// stop vehicle if target not updated within 3 seconds
if (have_attitude_target && (millis() - _des_att_time_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
have_attitude_target = false;
}
if (have_attitude_target) {
// run steering and throttle controllers
float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds / 100.0f), g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, _desired_speed < 0);
g2.motors.set_steering(steering_out * 4500.0f);
calc_throttle(_desired_speed, true);
} else {
stop_vehicle();
g2.motors.set_steering(0.0f);
}
break;
}
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break;
}
}
void ModeGuided::update()
{
switch (_guided_mode) {
case Guided_WP:
{
_distance_to_destination = get_distance(rover.current_loc, _destination);
const bool near_wp = _distance_to_destination <= rover.g.waypoint_radius;
// check if we've reached the destination
if (!_reached_destination && (near_wp || location_passed_point(rover.current_loc, _origin, _destination))) {
_reached_destination = true;
rover.gcs().send_mission_item_reached_message(0);
}
// determine if we should keep navigating
if (!_reached_destination || (rover.is_boat() && !near_wp)) {
// drive towards destination
calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
} else {
stop_vehicle();
}
break;
}
case Guided_HeadingAndSpeed:
{
// stop vehicle if target not updated within 3 seconds
if (have_attitude_target && (millis() - _des_att_time_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
have_attitude_target = false;
}
if (have_attitude_target) {
// run steering and throttle controllers
calc_steering_to_heading(_desired_yaw_cd, _desired_speed < 0);
calc_throttle(calc_reduced_speed_for_turn_or_distance(_desired_speed), true, true);
} else {
stop_vehicle();
}
break;
}
case Guided_TurnRateAndSpeed:
{
// stop vehicle if target not updated within 3 seconds
if (have_attitude_target && (millis() - _des_att_time_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_WARNING, "target not received last 3secs, stopping");
have_attitude_target = false;
}
if (have_attitude_target) {
// run steering and throttle controllers
float steering_out = attitude_control.get_steering_out_rate(radians(_desired_yaw_rate_cds / 100.0f),
g2.motors.limit.steer_left,
g2.motors.limit.steer_right,
rover.G_Dt);
g2.motors.set_steering(steering_out * 4500.0f);
calc_throttle(_desired_speed, true, true);
} else {
stop_vehicle();
}
break;
}
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break;
}
}
