mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
131 lines
3.9 KiB
C
131 lines
3.9 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotLibraries OpenPilot Libraries
|
|
* @{
|
|
* @addtogroup Navigation
|
|
* @brief setups RTH/PH and other pathfollower/pathplanner status
|
|
* @{
|
|
*
|
|
* @file plan.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
******************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#include <plans.h>
|
|
#include <openpilot.h>
|
|
#include <attitudesettings.h>
|
|
#include <takeofflocation.h>
|
|
#include <pathdesired.h>
|
|
#include <positionstate.h>
|
|
#include <flightmodesettings.h>
|
|
|
|
/**
|
|
* @brief initialize UAVOs and structs used by this library
|
|
*/
|
|
void plan_initialize()
|
|
{
|
|
TakeOffLocationInitialize();
|
|
PositionStateInitialize();
|
|
PathDesiredInitialize();
|
|
FlightModeSettingsInitialize();
|
|
}
|
|
|
|
/**
|
|
* @brief setup pathplanner/pathfollower for positionhold
|
|
*/
|
|
void plan_setup_positionHold()
|
|
{
|
|
PositionStateData positionState;
|
|
|
|
PositionStateGet(&positionState);
|
|
PathDesiredData pathDesired;
|
|
PathDesiredGet(&pathDesired);
|
|
|
|
pathDesired.Start.North = positionState.North;
|
|
pathDesired.Start.East = positionState.East;
|
|
pathDesired.Start.Down = positionState.Down;
|
|
pathDesired.End.North = positionState.North;
|
|
pathDesired.End.East = positionState.East;
|
|
pathDesired.End.Down = positionState.Down;
|
|
pathDesired.StartingVelocity = 1;
|
|
pathDesired.EndingVelocity = 0;
|
|
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
|
|
|
|
PathDesiredSet(&pathDesired);
|
|
}
|
|
|
|
/**
|
|
* @brief setup pathplanner/pathfollower for return to base
|
|
*/
|
|
void plan_setup_returnToBase()
|
|
{
|
|
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
|
|
float positionStateDown;
|
|
|
|
PositionStateDownGet(&positionStateDown);
|
|
|
|
PathDesiredData pathDesired;
|
|
PathDesiredGet(&pathDesired);
|
|
|
|
TakeOffLocationData takeoffLocation;
|
|
TakeOffLocationGet(&takeoffLocation);
|
|
|
|
// TODO: right now VTOLPF does fly straight to destination altitude.
|
|
// For a safer RTB destination altitude will be the higher between takeofflocation and current position (corrected with safety margin)
|
|
|
|
float destDown;
|
|
FlightModeSettingsReturnToBaseAltitudeOffsetGet(&destDown);
|
|
destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown;
|
|
|
|
pathDesired.Start.North = takeoffLocation.North;
|
|
pathDesired.Start.East = takeoffLocation.East;
|
|
pathDesired.Start.Down = destDown;
|
|
|
|
pathDesired.End.North = takeoffLocation.North;
|
|
pathDesired.End.East = takeoffLocation.East;
|
|
pathDesired.End.Down = destDown;
|
|
|
|
pathDesired.StartingVelocity = 1;
|
|
pathDesired.EndingVelocity = 0;
|
|
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
|
|
|
|
PathDesiredSet(&pathDesired);
|
|
}
|
|
|
|
void plan_setup_land()
|
|
{
|
|
plan_setup_positionHold();
|
|
}
|
|
|
|
/**
|
|
* @brief execute land
|
|
*/
|
|
void plan_run_land()
|
|
{
|
|
PathDesiredEndData pathDesiredEnd;
|
|
|
|
PathDesiredEndGet(&pathDesiredEnd);
|
|
|
|
PositionStateDownGet(&pathDesiredEnd.Down);
|
|
pathDesiredEnd.Down += 5;
|
|
|
|
PathDesiredEndSet(&pathDesiredEnd);
|
|
}
|