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ArduPlane: add AutoLand fixed-wing mode
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| #include "mode.h" | ||
| #include "Plane.h" | ||
| #include <GCS_MAVLink/GCS.h> | ||
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| /* | ||
| mode AutoLand parameters | ||
| */ | ||
| const AP_Param::GroupInfo ModeAutoLand::var_info[] = { | ||
| // @Param: WP_ALT | ||
| // @DisplayName: Final approach WP altitude | ||
| // @Description: This is the target altitude above HOME for final approach waypoint | ||
| // @Range: 0 200 | ||
| // @Increment: 1 | ||
| // @Units: m | ||
| // @User: Standard | ||
| AP_GROUPINFO("WP_ALT", 1, ModeAutoLand, final_wp_alt, 55), | ||
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| // @Param: WP_DIST | ||
| // @DisplayName: Final approach WP distance | ||
| // @Description: This is the distance from Home that the final approach waypoint is set. The waypoint point will be in the opposite direction of takeoff (the direction the plane is facing when the plane sets its takeoff heading) | ||
| // @Range: 0 700 | ||
| // @Increment: 1 | ||
| // @Units: m | ||
| // @User: Standard | ||
| AP_GROUPINFO("WP_DIST", 2, ModeAutoLand, final_wp_dist, 400), | ||
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| AP_GROUPEND | ||
| }; | ||
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| ModeAutoLand::ModeAutoLand() : | ||
| Mode() | ||
| { | ||
| AP_Param::setup_object_defaults(this, var_info); | ||
| } | ||
|
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| bool ModeAutoLand::_enter() | ||
| { | ||
| //if do_land_start exists, jump to it | ||
| if( (plane.mission.contains_item(MAV_CMD_DO_LAND_START)) && (plane.arming.is_armed())) { | ||
| if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) { | ||
| // switch to AUTO | ||
| plane.mission.set_force_resume(true); | ||
| if (plane.set_mode(plane.mode_auto, ModeReason::FIXED_WING_AUTOLAND)) { | ||
| return true; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| //also must be flying to enter | ||
| if (!plane.is_flying()) { | ||
| return false; | ||
| } | ||
|
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| //takeoff direction must be set and must not be a quadplane, otherwise since flying switch to RTL so this can be used as FS action | ||
| #if HAL_QUADPLANE_ENABLED | ||
| if (quadplane.available()) { | ||
| gcs().send_text(MAV_SEVERITY_WARNING, "AutoLand is fixed wing only,changing to RTL"); | ||
| plane.set_mode(plane.mode_rtl, ModeReason::FIXED_WING_AUTOLAND); | ||
| return true; | ||
| } | ||
| #endif | ||
| if (!plane.takeoff_state.takeoff_direction_initialized) { | ||
| gcs().send_text(MAV_SEVERITY_WARNING, "Takeoff initial direction not set,must use autotakeoff"); | ||
| gcs().send_text(MAV_SEVERITY_WARNING, "Changing to RTL"); | ||
| plane.set_mode(plane.mode_rtl, ModeReason::FIXED_WING_AUTOLAND); | ||
| return true; | ||
| } | ||
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| //setup final approach waypoint | ||
| plane.prev_WP_loc = plane.current_loc; | ||
| const Location &home = ahrs.get_home(); | ||
| plane.set_target_altitude_current(); | ||
| plane.next_WP_loc = home; | ||
| uint16_t bearing_cd = wrap_360_cd((plane.takeoff_state.takeoff_initial_direction + 180)*100); | ||
| plane.next_WP_loc.offset_bearing(bearing_cd * 0.01f, final_wp_dist); | ||
| plane.next_WP_loc.set_alt_m(final_wp_alt, Location::AltFrame::ABOVE_HOME); | ||
|
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| // create a command to fly to final approach waypoint and start it | ||
| cmd.id = MAV_CMD_NAV_WAYPOINT; | ||
| cmd.content.location = plane.next_WP_loc; | ||
| plane.start_command(cmd); | ||
| land_started = false; | ||
| gcs().send_text(MAV_SEVERITY_WARNING, "AutoLanding"); | ||
| return true; | ||
| } | ||
|
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| void ModeAutoLand::update() | ||
| { | ||
| plane.calc_nav_roll(); | ||
| plane.calc_nav_pitch(); | ||
| plane.set_offset_altitude_location(plane.prev_WP_loc, plane.next_WP_loc); | ||
| if (plane.landing.is_throttle_suppressed()) { | ||
| // if landing is considered complete throttle is never allowed, regardless of landing type | ||
| SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0); | ||
| } else { | ||
| plane.calc_throttle(); | ||
| } | ||
| } | ||
|
|
||
| void ModeAutoLand::navigate() | ||
| { | ||
| // check to see if if we have reached final approach waypoint, switch to NAV_LAND command and start it once if so | ||
| if (!land_started){ | ||
| if (plane.verify_nav_wp(cmd)){ | ||
| const Location &home_loc = ahrs.get_home(); | ||
| cmd.id = MAV_CMD_NAV_LAND; | ||
| cmd.content.location = home_loc; | ||
| land_started = true; | ||
| plane.prev_WP_loc = plane.current_loc; | ||
| plane.next_WP_loc = home_loc; | ||
| plane.start_command(cmd); | ||
| } | ||
| return; | ||
| //otherwise keep flying the current command | ||
| } else { | ||
| plane.verify_command(cmd); | ||
| } | ||
| } |
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