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Plane: add radius for GUIDED mode #19297

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Plane: add radius for GUIDED mode #19297

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2 changes: 1 addition & 1 deletion ArduPlane/GCS_Mavlink.cpp
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Expand Up @@ -604,7 +604,7 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
*/
bool GCS_MAVLINK_Plane::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
return plane.control_mode->handle_guided_request(cmd.content.location);
return plane.control_mode->handle_guided_request(cmd.content.location, cmd.p1);
}

/*
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14 changes: 9 additions & 5 deletions ArduPlane/mode.h
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Expand Up @@ -119,8 +119,8 @@ class Mode
// method for mode specific target altitude profiles
virtual bool update_target_altitude() { return false; }

// handle a guided target request from GCS
virtual bool handle_guided_request(Location target_loc) { return false; }
// handle a guided target request from GCS. A radius of Zero indicates to use WP_LOITER_RAD
virtual bool handle_guided_request(const Location target_loc, const uint16_t radius = 0) { return false; }

protected:

Expand Down Expand Up @@ -224,11 +224,15 @@ class ModeGuided : public Mode
bool does_auto_throttle() const override { return true; }

// handle a guided target request from GCS
bool handle_guided_request(Location target_loc) override;
bool handle_guided_request(const Location target_loc, const uint16_t radius = 0) override;

protected:

bool _enter() override;

private:
// adjustable radius for guided. A radius of Zero indicates to use WP_LOITER_RAD
uint16_t loiter_radius_m;
};

class ModeCircle: public Mode
Expand Down Expand Up @@ -287,8 +291,8 @@ class ModeLoiterAltQLand : public ModeLoiter
const char *name() const override { return "Loiter to QLAND"; }
const char *name4() const override { return "L2QL"; }

// handle a guided target request from GCS
bool handle_guided_request(Location target_loc) override;
// handle a guided target request from GCS. Radius is unused.
bool handle_guided_request(const Location target_loc, const uint16_t radius = 0) override;

protected:
bool _enter() override;
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2 changes: 1 addition & 1 deletion ArduPlane/mode_LoiterAltQLand.cpp
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Expand Up @@ -42,7 +42,7 @@ void ModeLoiterAltQLand::switch_qland()
}
}

bool ModeLoiterAltQLand::handle_guided_request(Location target_loc)
bool ModeLoiterAltQLand::handle_guided_request(const Location target_loc, const uint16_t radius)
{
plane.guided_WP_loc = target_loc;

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7 changes: 4 additions & 3 deletions ArduPlane/mode_guided.cpp
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Expand Up @@ -39,13 +39,14 @@ void ModeGuided::update()

void ModeGuided::navigate()
{
// Zero indicates to use WP_LOITER_RAD
plane.update_loiter(0);
// A radius of Zero indicates to use WP_LOITER_RAD
plane.update_loiter(loiter_radius_m);
}

bool ModeGuided::handle_guided_request(Location target_loc)
bool ModeGuided::handle_guided_request(const Location target_loc, const uint16_t radius)
{
plane.guided_WP_loc = target_loc;
loiter_radius_m = radius;

// add home alt if needed
if (plane.guided_WP_loc.relative_alt) {
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