Rover: enabled sending waypoints from a companion computer to ardupil…

…ot for copter and rover Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
ArduPilot · May 2, 2024 · 7701be8 · 7701be8
1 parent a13639d
commit 7701be8
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Showing 4 changed files with 22 additions and 4 deletions.
diff --git a/Rover/AP_ExternalControl_Rover.cpp b/Rover/AP_ExternalControl_Rover.cpp
@@ -29,6 +29,12 @@ bool AP_ExternalControl_Rover::set_linear_velocity_and_yaw_rate(const Vector3f &
     return true;
 }
 
+bool AP_ExternalControl_Rover::set_global_position(const Location& loc)
+{
+    // set_target_location only checks if the rover is in guided mode or not
+    return rover.set_target_location(loc);
+}
+
 bool AP_ExternalControl_Rover::ready_for_external_control()
 {
     return rover.control_mode->in_guided_mode() && rover.arming.is_armed();

diff --git a/Rover/AP_ExternalControl_Rover.h b/Rover/AP_ExternalControl_Rover.h
@@ -7,14 +7,21 @@
 
 #if AP_EXTERNAL_CONTROL_ENABLED
 
-class AP_ExternalControl_Rover : public AP_ExternalControl {
+class AP_ExternalControl_Rover : public AP_ExternalControl
+{
 public:
     /*
       Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
       Velocity is in earth frame, NED [m/s].
       Yaw is in earth frame, NED [rad/s].
      */
     bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads)override WARN_IF_UNUSED;
+
+    /*
+      Sets the global position for loiter point
+    */
+    bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
+
 private:
     /*
       Return true if Rover is ready to handle external control data.

diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
@@ -157,8 +157,8 @@ Rover::Rover(void) :
 {
 }
 
-#if AP_SCRIPTING_ENABLED
-// set target location (for use by scripting)
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+// set target location (for use by external control and scripting)
 bool Rover::set_target_location(const Location& target_loc)
 {
     // exit if vehicle is not in Guided mode or Auto-Guided mode
@@ -168,7 +168,9 @@ bool Rover::set_target_location(const Location& target_loc)
 
     return mode_guided.set_desired_location(target_loc);
 }
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
+#if AP_SCRIPTING_ENABLED
 // set target velocity (for use by scripting)
 bool Rover::set_target_velocity_NED(const Vector3f& vel_ned)
 {

diff --git a/Rover/Rover.h b/Rover/Rover.h
@@ -269,8 +269,11 @@ class Rover : public AP_Vehicle {
     cruise_learn_t cruise_learn;
 
     // Rover.cpp
-#if AP_SCRIPTING_ENABLED
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
     bool set_target_location(const Location& target_loc) override;
+#endif
+
+#if AP_SCRIPTING_ENABLED
     bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     bool set_steering_and_throttle(float steering, float throttle) override;
     bool get_steering_and_throttle(float& steering, float& throttle) override;