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WP linear climb dive #5226

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Merged
digitalentity merged 1 commit into from
Nov 29, 2019
Merged

WP linear climb dive #5226

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18 changes: 13 additions & 5 deletions src/main/navigation/navigation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1368,6 +1368,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
switch (posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_WAYPOINT:
calculateAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]);
posControl.wpInitialDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);
posControl.wpInitialAltitude = posControl.actualState.abs.pos.z;
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS

case NAV_WP_ACTION_RTH:
Expand All @@ -1392,7 +1394,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS(na
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_REACHED
}
else {
setDesiredPosition(&posControl.activeWaypoint.pos, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_BEARING);
fpVector3_t tmpWaypoint;
tmpWaypoint.x = posControl.activeWaypoint.pos.x;
tmpWaypoint.y = posControl.activeWaypoint.pos.y;
tmpWaypoint.z = scaleRange(constrainf(posControl.wpDistance, posControl.wpInitialDistance / 10, posControl.wpInitialDistance),
posControl.wpInitialDistance, posControl.wpInitialDistance / 10,
posControl.wpInitialAltitude, posControl.activeWaypoint.pos.z);
setDesiredPosition(&tmpWaypoint, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_BEARING);
return NAV_FSM_EVENT_NONE; // will re-process state in >10ms
}
break;
Expand Down Expand Up @@ -2040,15 +2048,15 @@ bool isWaypointMissed(const navWaypointPosition_t * waypoint)
static bool isWaypointPositionReached(const fpVector3_t * pos, const bool isWaypointHome)
{
// We consider waypoint reached if within specified radius
const uint32_t wpDistance = calculateDistanceToDestination(pos);
posControl.wpDistance = calculateDistanceToDestination(pos);

if (STATE(FIXED_WING) && isWaypointHome) {
// Airplane will do a circular loiter over home and might never approach it closer than waypoint_radius - need extra check
return (wpDistance <= navConfig()->general.waypoint_radius)
|| (wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)); // 10% margin of desired circular loiter radius
return (posControl.wpDistance <= navConfig()->general.waypoint_radius)
|| (posControl.wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)); // 10% margin of desired circular loiter radius
}
else {
return (wpDistance <= navConfig()->general.waypoint_radius);
return (posControl.wpDistance <= navConfig()->general.waypoint_radius);
}
}

Expand Down
3 changes: 3 additions & 0 deletions src/main/navigation/navigation_private.h
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Expand Up @@ -354,6 +354,9 @@ typedef struct {

navWaypointPosition_t activeWaypoint; // Local position and initial bearing, filled on waypoint activation
int8_t activeWaypointIndex;
float wpInitialAltitude; // Altitude at start of WP
float wpInitialDistance; // Distance when starting flight to WP
float wpDistance; // Distance to active WP

/* Internals & statistics */
int16_t rcAdjustment[4];
Expand Down