void Plane::update_navigation()
{
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
// ------------------------------------------------------------------------
uint16_t radius = 0;
uint16_t qrtl_radius = abs(g.rtl_radius);
if (qrtl_radius == 0) {
qrtl_radius = abs(aparm.loiter_radius);
}
switch(control_mode) {
case AUTO:
if (ahrs.home_is_set()) {
mission.update();
}
break;
case RTL:
if (quadplane.available() && quadplane.rtl_mode == 1 &&
(nav_controller->reached_loiter_target() ||
location_passed_point(current_loc, prev_WP_loc, next_WP_loc) ||
auto_state.wp_distance < MAX(qrtl_radius, quadplane.stopping_distance())) &&
AP_HAL::millis() - last_mode_change_ms > 1000) {
/*
for a quadplane in RTL mode we switch to QRTL when we
are within the maximum of the stopping distance and the
RTL_RADIUS
*/
set_mode(QRTL, MODE_REASON_UNKNOWN);
break;
} else if (g.rtl_autoland == 1 &&
!auto_state.checked_for_autoland &&
reached_loiter_target() &&
labs(altitude_error_cm) < 1000) {
// we've reached the RTL point, see if we have a landing sequence
if (mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
set_mode(AUTO, MODE_REASON_UNKNOWN);
}
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
}
else if (g.rtl_autoland == 2 &&
!auto_state.checked_for_autoland) {
// Go directly to the landing sequence
if (mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
set_mode(AUTO, MODE_REASON_UNKNOWN);
}
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
}
radius = abs(g.rtl_radius);
if (radius > 0) {
loiter.direction = (g.rtl_radius < 0) ? -1 : 1;
}
// fall through to LOITER
FALLTHROUGH;
case LOITER:
case AVOID_ADSB:
case GUIDED:
update_loiter(radius);
break;
case CRUISE:
update_cruise();
break;
case MANUAL:
case STABILIZE:
case TRAINING:
case INITIALISING:
case ACRO:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CIRCLE:
case QSTABILIZE:
case QHOVER:
case QLOITER:
case QLAND:
case QRTL:
// nothing to do
break;
}
}
void Plane::update_navigation()
{
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
// ------------------------------------------------------------------------
uint16_t radius = 0;
switch(control_mode) {
case AUTO:
if (home_is_set != HOME_UNSET) {
mission.update();
}
break;
case RTL:
if (quadplane.available() && quadplane.rtl_mode == 1 &&
nav_controller->reached_loiter_target()) {
set_mode(QRTL);
break;
} else if (g.rtl_autoland == 1 &&
!auto_state.checked_for_autoland &&
reached_loiter_target() &&
labs(altitude_error_cm) < 1000) {
// we've reached the RTL point, see if we have a landing sequence
jump_to_landing_sequence();
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
}
else if (g.rtl_autoland == 2 &&
!auto_state.checked_for_autoland) {
// Go directly to the landing sequence
jump_to_landing_sequence();
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
}
radius = abs(g.rtl_radius);
if (radius > 0) {
loiter.direction = (g.rtl_radius < 0) ? -1 : 1;
}
// fall through to LOITER
case LOITER:
case GUIDED:
update_loiter(radius);
break;
case CRUISE:
update_cruise();
break;
case MANUAL:
case STABILIZE:
case TRAINING:
case INITIALISING:
case ACRO:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CIRCLE:
case QSTABILIZE:
case QHOVER:
case QLOITER:
case QLAND:
case QRTL:
// nothing to do
break;
}
}
void Plane::update_navigation()
{
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
// ------------------------------------------------------------------------
// distance and bearing calcs only
switch(control_mode) {
case AUTO:
update_commands();
break;
case RTL:
if (g.rtl_autoland == 1 &&
!auto_state.checked_for_autoland &&
nav_controller->reached_loiter_target() &&
labs(altitude_error_cm) < 1000) {
// we've reached the RTL point, see if we have a landing sequence
jump_to_landing_sequence();
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
}
else if (g.rtl_autoland == 2 &&
!auto_state.checked_for_autoland) {
// Go directly to the landing sequence
jump_to_landing_sequence();
// prevent running the expensive jump_to_landing_sequence
// on every loop
auto_state.checked_for_autoland = true;
}
// fall through to LOITER
case LOITER:
case GUIDED:
// allow loiter direction to be changed in flight
if (g.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
update_loiter();
break;
case CRUISE:
update_cruise();
break;
case MANUAL:
case STABILIZE:
case TRAINING:
case INITIALISING:
case ACRO:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CIRCLE:
case QSTABILIZE:
case QHOVER:
case QLOITER:
// nothing to do
break;
}
}