// 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);
}
/*
* check if we have breached the geo-fence
*/
void Plane::geofence_check(bool altitude_check_only)
{
if (!geofence_enabled()) {
// switch back to the chosen control mode if still in
// GUIDED to the return point
if (geofence_state != nullptr &&
(g.fence_action == FENCE_ACTION_GUIDED || g.fence_action == FENCE_ACTION_GUIDED_THR_PASS || g.fence_action == FENCE_ACTION_RTL) &&
(control_mode == GUIDED || control_mode == AVOID_ADSB) &&
geofence_present() &&
geofence_state->boundary_uptodate &&
geofence_state->old_switch_position == oldSwitchPosition &&
guided_WP_loc.lat == geofence_state->guided_lat &&
guided_WP_loc.lng == geofence_state->guided_lng) {
geofence_state->old_switch_position = 254;
set_mode(get_previous_mode(), MODE_REASON_GCS_COMMAND);
}
return;
}
/* allocate the geo-fence state if need be */
if (geofence_state == nullptr || !geofence_state->boundary_uptodate) {
geofence_load();
if (!geofence_enabled()) {
// may have been disabled by load
return;
}
}
bool outside = false;
uint8_t breach_type = FENCE_BREACH_NONE;
struct Location loc;
// Never trigger a fence breach in the final stage of landing
if (landing.is_expecting_impact()) {
return;
}
if (geofence_state->floor_enabled && geofence_check_minalt()) {
outside = true;
breach_type = FENCE_BREACH_MINALT;
} else if (geofence_check_maxalt()) {
outside = true;
breach_type = FENCE_BREACH_MAXALT;
} else if (!altitude_check_only && ahrs.get_position(loc)) {
Vector2l location;
location.x = loc.lat;
location.y = loc.lng;
outside = Polygon_outside(location, &geofence_state->boundary[1], geofence_state->num_points-1);
if (outside) {
breach_type = FENCE_BREACH_BOUNDARY;
}
}
if (!outside) {
if (geofence_state->fence_triggered && !altitude_check_only) {
// we have moved back inside the fence
geofence_state->fence_triggered = false;
gcs_send_text(MAV_SEVERITY_INFO,"Geofence OK");
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);
#endif
gcs_send_message(MSG_FENCE_STATUS);
}
// we're inside, all is good with the world
return;
}
// we are outside the fence
if (geofence_state->fence_triggered &&
(control_mode == GUIDED || control_mode == AVOID_ADSB || control_mode == RTL || g.fence_action == FENCE_ACTION_REPORT)) {
// we have already triggered, don't trigger again until the
// user disables/re-enables using the fence channel switch
return;
}
// we are outside, and have not previously triggered.
geofence_state->fence_triggered = true;
geofence_state->breach_count++;
geofence_state->breach_time = millis();
geofence_state->breach_type = breach_type;
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 1);
#endif
gcs_send_text(MAV_SEVERITY_NOTICE,"Geofence triggered");
gcs_send_message(MSG_FENCE_STATUS);
// see what action the user wants
switch (g.fence_action) {
case FENCE_ACTION_REPORT:
break;
case FENCE_ACTION_GUIDED:
case FENCE_ACTION_GUIDED_THR_PASS:
case FENCE_ACTION_RTL:
// make sure we don't auto trim the surfaces on this mode change
int8_t saved_auto_trim = g.auto_trim;
g.auto_trim.set(0);
if (g.fence_action == FENCE_ACTION_RTL) {
set_mode(RTL, MODE_REASON_FENCE_BREACH);
} else {
set_mode(GUIDED, MODE_REASON_FENCE_BREACH);
}
g.auto_trim.set(saved_auto_trim);
if (g.fence_ret_rally != 0 || g.fence_action == FENCE_ACTION_RTL) { //return to a rally point
guided_WP_loc = rally.calc_best_rally_or_home_location(current_loc, get_RTL_altitude());
} else { //return to fence return point, not a rally point
if (g.fence_retalt > 0) {
//fly to the return point using fence_retalt
guided_WP_loc.alt = home.alt + 100.0f*g.fence_retalt;
} else if (g.fence_minalt >= g.fence_maxalt) {
// invalid min/max, use RTL_altitude
guided_WP_loc.alt = home.alt + g.RTL_altitude_cm;
} else {
// fly to the return point, with an altitude half way between
// min and max
guided_WP_loc.alt = home.alt + 100.0f*(g.fence_minalt + g.fence_maxalt)/2;
}
guided_WP_loc.options = 0;
guided_WP_loc.lat = geofence_state->boundary[0].x;
guided_WP_loc.lng = geofence_state->boundary[0].y;
}
geofence_state->guided_lat = guided_WP_loc.lat;
geofence_state->guided_lng = guided_WP_loc.lng;
geofence_state->old_switch_position = oldSwitchPosition;
if (g.fence_action != FENCE_ACTION_RTL) { //not needed for RTL mode
setup_terrain_target_alt(guided_WP_loc);
set_guided_WP();
}
if (g.fence_action == FENCE_ACTION_GUIDED_THR_PASS) {
guided_throttle_passthru = true;
}
break;
}
}