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Control/UAV/Ardupilot: make loiter radius for GUIDED Goto a parameter #204

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Control/UAV/Ardupilot: make loiter radius for GUIDED Goto a parameter #204

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17 changes: 15 additions & 2 deletions src/Control/UAV/Ardupilot/Task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,8 @@ namespace Control
float alt;
//! LoiterHere (default) radius
float lradius;
//! Radius sent to AP during Goto, to come close
float lradius_min;
//! Loitering tolerance
int ltolerance;
//! Has Power Module
Expand Down Expand Up @@ -313,6 +315,11 @@ namespace Control
.units(Units::Meter)
.description("Loiter radius used in LoiterHere (idle)");

param("Minimum loiter radius", m_args.lradius_min)
.defaultValue("3")
.units(Units::Meter)
.description("Radius sent to AP during Goto, to come close");

param("Loitering tolerance", m_args.ltolerance)
.defaultValue("10")
.units(Units::Meter)
Expand Down Expand Up @@ -975,17 +982,23 @@ namespace Control
//! Setting loiter radius parameter
if (m_vehicle_type != VEHICLE_COPTER)
{
//Set WP_LOITER_RAD to the desired radius if we are loitering
//if not, set it small so we will come close to the WP (before AP will start a loiter)
m_desired_radius = path->lradius ? (path->flags & DesiredPath::FL_CCLOCKW ? (-1 * path->lradius) : (path->lradius)) : m_args.lradius_min;
mavlink_msg_param_set_pack(255, 0, &msg,
m_sysid, //! target_system System ID
0, //! target_component Component ID
"WP_LOITER_RAD", //! Parameter name
path->lradius ? (path->flags & DesiredPath::FL_CCLOCKW ? (-1 * path->lradius) : (path->lradius)) : 10, //! Parameter value
m_desired_radius, //! Parameter value
MAV_PARAM_TYPE_INT16); //! Parameter type

n = mavlink_msg_to_send_buffer(buf, &msg);
sendData(buf, n);
}
m_desired_radius = (uint16_t) path->lradius;
else
{
m_desired_radius = (uint16_t) path->lradius;
}

float alt = (path->end_z_units & IMC::Z_NONE) ? m_args.alt : (float)path->end_z;

Expand Down