C++ (Cpp) landing_with_GPS示例

示例#1

文件： ArduCopter.cpp 项目： Amnesiac2/ardupilot

// ten_hz_logging_loop
// should be run at 10hz
void Copter::ten_hz_logging_loop()
{
    // log attitude data if we're not already logging at the higher rate
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
        DataFlash.Log_Write_Rate(ahrs, motors, attitude_control, pos_control);
        if (should_log(MASK_LOG_PID)) {
            DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
            DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
            DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
            DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
        }
    }
    if (should_log(MASK_LOG_MOTBATT)) {
        Log_Write_MotBatt();
    }
    if (should_log(MASK_LOG_RCIN)) {
        DataFlash.Log_Write_RCIN();
        if (rssi.enabled()) {
            DataFlash.Log_Write_RSSI(rssi);
        }
    }
    if (should_log(MASK_LOG_RCOUT)) {
        DataFlash.Log_Write_RCOUT();
    }
    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
        Log_Write_Nav_Tuning();
    }
    if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
        DataFlash.Log_Write_Vibration(ins);
    }
#if FRAME_CONFIG == HELI_FRAME
    Log_Write_Heli();
#endif
}

示例#2

文件： ekf_check.cpp 项目： FantasyJXF/ardupilot

// ekf_check_position_problem - returns true if the EKF has a positioning problem
bool Copter::ekf_check_position_problem()
{
    // either otflow or abs means we're OK:
    if (optflow_position_ok()) {
        return false;
    }
    if (ekf_position_ok()) {
        return false;
    }

    // We don't know where we are.  Is this a problem?
    if (copter.flightmode->requires_GPS()) {
        // Oh, yes, we have a problem
        return true;
    }
    // sometimes LAND *does* require GPS:
    if (control_mode == LAND && landing_with_GPS()) {
        return true;
    }

    // we're in a non-GPS mode (e.g. althold/stabilize)

    if (g.fs_ekf_action == FS_EKF_ACTION_LAND_EVEN_STABILIZE) {
        // the user is making an issue out of it
        return true;
    }

    return false;
}

示例#3

文件： ArduCopter.cpp 项目： R-Lefebvre/ardupilot

// ten_hz_logging_loop
// should be run at 10hz
void Copter::ten_hz_logging_loop()
{
    // log attitude data if we're not already logging at the higher rate
    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
        Log_Write_Attitude();
        Log_Write_EKF_POS();
    }
    if (should_log(MASK_LOG_MOTBATT)) {
        Log_Write_MotBatt();
    }
    if (should_log(MASK_LOG_RCIN)) {
        DataFlash.Log_Write_RCIN();
        if (rssi.enabled()) {
            DataFlash.Log_Write_RSSI(rssi);
        }
    }
    if (should_log(MASK_LOG_RCOUT)) {
        DataFlash.Log_Write_RCOUT();
    }
    if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
        pos_control->write_log();
    }
    if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
        DataFlash.Log_Write_Vibration();
    }
    if (should_log(MASK_LOG_CTUN)) {
        attitude_control->control_monitor_log();
#if PROXIMITY_ENABLED == ENABLED
        DataFlash.Log_Write_Proximity(g2.proximity);  // Write proximity sensor distances
#endif
#if BEACON_ENABLED == ENABLED
        DataFlash.Log_Write_Beacon(g2.beacon);
#endif
    }
#if FRAME_CONFIG == HELI_FRAME
    Log_Write_Heli();
#endif
}