Line data    Source code

       1             : #include "Copter.h"
       2             : 
       3             : #if AP_ADSB_AVOIDANCE_ENABLED
       4             : 
       5             : /*
       6             :  * control_avoid.cpp - init and run calls for AP_Avoidance's AVOID flight mode
       7             :  *
       8             :  * This re-uses GUIDED mode functions but does not interfere with the GCS or companion computer's
       9             :  * use of guided mode because the velocity requests arrive from different sources (i.e MAVLink messages
      10             :  * for GCS and Companion Computers vs the AP_Avoidance_Copter class for adsb avoidance) and inputs from
      11             :  * each source are only accepted and processed in the appropriate flight mode.
      12             :  */
      13             : 
      14             : // initialise avoid_adsb controller
      15           2 : bool ModeAvoidADSB::init(const bool ignore_checks)
      16             : {
      17             :     // re-use guided mode
      18           2 :     return ModeGuided::init(ignore_checks);
      19             : }
      20             : 
      21           0 : bool ModeAvoidADSB::set_velocity_NEU_ms(const Vector3f& velocity_neu_ms)
      22             : {
      23             :     // check flight mode
      24           0 :     if (copter.flightmode->mode_number() != Mode::Number::AVOID_ADSB) {
      25           0 :         return false;
      26             :     }
      27             : 
      28             :     // re-use guided mode's velocity controller
      29           0 :     ModeGuided::set_vel_NED_ms(velocity_neu_ms);
      30           0 :     return true;
      31             : }
      32             : 
      33             : // runs the AVOID_ADSB controller
      34         880 : void ModeAvoidADSB::run()
      35             : {
      36             :     // re-use guided mode's velocity controller
      37             :     // Note: this is safe from interference from GCSs and companion computer's whose guided mode
      38             :     //       position and velocity requests will be ignored while the vehicle is not in guided mode
      39         880 :     ModeGuided::run();
      40         880 : }
      41             : 
      42             : #endif  // AP_ADSB_AVOIDANCE_ENABLED