From 7701be8209e6acef6e5d4be5990e2f7e646da7a0 Mon Sep 17 00:00:00 2001
From: haarshitgarg <59084710+haarshitgarg@users.noreply.github.com>
Date: Wed, 1 May 2024 13:43:49 -0600
Subject: [PATCH] Rover: enabled sending waypoints from a companion computer to
 ardupilot for copter and rover

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 Rover/AP_ExternalControl_Rover.cpp | 6 ++++++
 Rover/AP_ExternalControl_Rover.h   | 9 ++++++++-
 Rover/Rover.cpp                    | 6 ++++--
 Rover/Rover.h                      | 5 ++++-
 4 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/Rover/AP_ExternalControl_Rover.cpp b/Rover/AP_ExternalControl_Rover.cpp
index 1c08f92a9b5fd..d7511f6f0f832 100644
--- 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
index 434972833e45d..e7350ebbe2c62 100644
--- a/Rover/AP_ExternalControl_Rover.h
+++ b/Rover/AP_ExternalControl_Rover.h
@@ -7,7 +7,8 @@
 
 #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.
@@ -15,6 +16,12 @@ class AP_ExternalControl_Rover : public AP_ExternalControl {
       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
index f1a47b452545d..1278977b59a91 100644
--- 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
index 6b2493d4fc7a5..0db95d23b3997 100644
--- 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;