2011-09-08 22:31:32 -03:00
|
|
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
|
|
|
|
|
|
void init_commands()
|
|
|
|
{
|
|
|
|
//read_EEPROM_waypoint_info();
|
|
|
|
set(PARAM_WP_INDEX,0);
|
|
|
|
command_must_index = 0;
|
|
|
|
command_may_index = 0;
|
|
|
|
next_command.id = CMD_BLANK;
|
|
|
|
}
|
|
|
|
|
|
|
|
void update_auto()
|
|
|
|
{
|
|
|
|
if (get(PARAM_WP_INDEX) == get(PARAM_WP_TOTAL)){
|
|
|
|
return_to_launch();
|
|
|
|
//wp_index = 0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void reload_commands()
|
|
|
|
{
|
|
|
|
init_commands();
|
|
|
|
//read_command_index(); // Get wp_index = command_must_index from EEPROM
|
|
|
|
if(get(PARAM_WP_INDEX) > 0){
|
|
|
|
decrement_WP_index;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// Getters
|
|
|
|
// -------
|
|
|
|
struct Location get_wp_with_index(int i)
|
|
|
|
{
|
|
|
|
struct Location temp;
|
|
|
|
long mem;
|
|
|
|
|
|
|
|
|
|
|
|
// Find out proper location in memory by using the start_byte position + the index
|
|
|
|
// --------------------------------------------------------------------------------
|
|
|
|
if (i > get(PARAM_WP_TOTAL)) {
|
|
|
|
temp.id = CMD_BLANK;
|
|
|
|
}else{
|
|
|
|
// read WP position
|
|
|
|
mem = (WP_START_BYTE) + (i * WP_SIZE);
|
|
|
|
temp.id = eeprom_read_byte((uint8_t*)mem);
|
|
|
|
mem++;
|
|
|
|
temp.p1 = eeprom_read_byte((uint8_t*)mem);
|
|
|
|
mem++;
|
|
|
|
temp.alt = (long)eeprom_read_dword((uint32_t*)mem);
|
|
|
|
mem += 4;
|
|
|
|
temp.lat = (long)eeprom_read_dword((uint32_t*)mem);
|
|
|
|
mem += 4;
|
|
|
|
temp.lng = (long)eeprom_read_dword((uint32_t*)mem);
|
|
|
|
}
|
|
|
|
return temp;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Setters
|
|
|
|
// -------
|
|
|
|
void set_wp_with_index(struct Location temp, int i)
|
|
|
|
{
|
|
|
|
|
|
|
|
i = constrain(i,0,get(PARAM_WP_TOTAL));
|
|
|
|
uint32_t mem = WP_START_BYTE + (i * WP_SIZE);
|
|
|
|
|
|
|
|
eeprom_write_byte((uint8_t *) mem, temp.id);
|
|
|
|
|
|
|
|
mem++;
|
|
|
|
eeprom_write_byte((uint8_t *) mem, temp.p1);
|
|
|
|
|
|
|
|
mem++;
|
|
|
|
eeprom_write_dword((uint32_t *) mem, temp.alt);
|
|
|
|
|
|
|
|
mem += 4;
|
|
|
|
eeprom_write_dword((uint32_t *) mem, temp.lat);
|
|
|
|
|
|
|
|
mem += 4;
|
|
|
|
eeprom_write_dword((uint32_t *) mem, temp.lng);
|
|
|
|
}
|
|
|
|
|
|
|
|
void increment_WP_index()
|
|
|
|
{
|
|
|
|
if(get(PARAM_WP_INDEX) < get(PARAM_WP_TOTAL)){
|
|
|
|
set(PARAM_WP_INDEX, get(PARAM_WP_INDEX) +1);
|
|
|
|
SendDebug("MSG <increment_WP_index> WP index is incremented to ");
|
|
|
|
SendDebugln(get(PARAM_WP_INDEX),DEC);
|
|
|
|
}else{
|
|
|
|
SendDebug("MSG <increment_WP_index> Failed to increment WP index of ");
|
|
|
|
SendDebugln(get(PARAM_WP_INDEX),DEC);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
void decrement_WP_index()
|
|
|
|
{
|
|
|
|
if(get(PARAM_WP_INDEX) > 0){
|
|
|
|
set(PARAM_WP_INDEX, get(PARAM_WP_INDEX) -1);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
long read_alt_to_hold()
|
|
|
|
{
|
|
|
|
byte options = get(PARAM_CONFIG);
|
|
|
|
|
|
|
|
// save the alitude above home option
|
|
|
|
if(options & HOLD_ALT_ABOVE_HOME){
|
|
|
|
int32_t temp = get(PARAM_ALT_HOLD_HOME);
|
|
|
|
return temp + home.alt;
|
|
|
|
}else{
|
|
|
|
return current_loc.alt;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void loiter_at_location()
|
|
|
|
{
|
|
|
|
next_WP = current_loc;
|
|
|
|
}
|
|
|
|
|
|
|
|
// add a new command at end of command set to RTL.
|
|
|
|
void return_to_launch(void)
|
|
|
|
{
|
|
|
|
//so we know where we are navigating from
|
|
|
|
next_WP = current_loc;
|
|
|
|
|
|
|
|
// home is WP 0
|
|
|
|
// ------------
|
|
|
|
set(PARAM_WP_INDEX,0);
|
|
|
|
|
|
|
|
// Loads WP from Memory
|
|
|
|
// --------------------
|
|
|
|
set_next_WP(&home);
|
|
|
|
|
|
|
|
// Altitude to hold over home
|
|
|
|
// Set by configuration tool
|
|
|
|
// -------------------------
|
|
|
|
next_WP.alt = read_alt_to_hold();
|
|
|
|
}
|
|
|
|
|
|
|
|
struct Location get_LOITER_home_wp()
|
|
|
|
{
|
|
|
|
// read home position
|
|
|
|
struct Location temp = get_wp_with_index(0);
|
|
|
|
temp.id = CMD_LOITER;
|
|
|
|
|
|
|
|
temp.alt = read_alt_to_hold();
|
|
|
|
return temp;
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
This function stores waypoint commands
|
|
|
|
It looks to see what the next command type is and finds the last command.
|
|
|
|
*/
|
|
|
|
void set_next_WP(struct Location *wp)
|
|
|
|
{
|
|
|
|
//GCS.send_text(SEVERITY_LOW,"load WP");
|
|
|
|
SendDebug("MSG <set_next_wp> wp_index: ");
|
|
|
|
SendDebugln(get(PARAM_WP_INDEX),DEC);
|
|
|
|
gcs.send_message(MSG_COMMAND_LIST, get(PARAM_WP_INDEX));
|
|
|
|
|
|
|
|
// copy the current WP into the OldWP slot
|
|
|
|
// ---------------------------------------
|
|
|
|
prev_WP = next_WP;
|
|
|
|
// Load the next_WP slot
|
|
|
|
// ---------------------
|
|
|
|
next_WP = *wp;
|
|
|
|
// offset the altitude relative to home position
|
|
|
|
// ---------------------------------------------
|
|
|
|
next_WP.alt += home.alt;
|
|
|
|
|
|
|
|
// used to control FBW and limit the rate of climb
|
|
|
|
// -----------------------------------------------
|
|
|
|
target_altitude = current_loc.alt;
|
|
|
|
if(prev_WP.id != CMD_TAKEOFF && (next_WP.id == CMD_WAYPOINT || next_WP.id == CMD_LAND))
|
|
|
|
offset_altitude = next_WP.alt - prev_WP.alt;
|
|
|
|
else
|
|
|
|
offset_altitude = 0;
|
|
|
|
|
|
|
|
|
|
|
|
// zero out our loiter vals to watch for missed waypoints
|
|
|
|
loiter_delta = 0;
|
|
|
|
loiter_sum = 0;
|
|
|
|
loiter_total = 0;
|
|
|
|
|
2013-01-10 14:42:24 -04:00
|
|
|
float rads = (abs(next_WP.lat)/t7) * 0.0174532925f;
|
2011-09-08 22:31:32 -03:00
|
|
|
//377,173,810 / 10,000,000 = 37.717381 * 0.0174532925 = 0.658292482926943
|
2013-01-10 14:42:24 -04:00
|
|
|
scaleLongDown = cosf(rads);
|
|
|
|
scaleLongUp = 1.0f/cosf(rads);
|
2011-09-08 22:31:32 -03:00
|
|
|
|
|
|
|
// this is handy for the groundstation
|
|
|
|
wp_totalDistance = getDistance(¤t_loc, &next_WP);
|
|
|
|
wp_distance = wp_totalDistance;
|
|
|
|
|
|
|
|
gcs.print_current_waypoints();
|
|
|
|
|
|
|
|
target_bearing = get_bearing(¤t_loc, &next_WP);
|
|
|
|
old_target_bearing = target_bearing;
|
|
|
|
// this is used to offset the shrinking longitude as we go towards the poles
|
|
|
|
|
|
|
|
// set a new crosstrack bearing
|
|
|
|
// ----------------------------
|
|
|
|
reset_crosstrack();
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// run this at setup on the ground
|
|
|
|
// -------------------------------
|
|
|
|
void init_home()
|
|
|
|
{
|
|
|
|
SendDebugln("MSG: <init_home> init home");
|
|
|
|
|
|
|
|
// Extra read just in case
|
|
|
|
// -----------------------
|
|
|
|
//gps.Read();
|
|
|
|
|
|
|
|
// block until we get a good fix
|
|
|
|
// -----------------------------
|
|
|
|
while (!gps.new_data || !gps.fix) {
|
|
|
|
gps.update();
|
|
|
|
}
|
|
|
|
home.id = CMD_WAYPOINT;
|
|
|
|
home.lng = gps.longitude; // Lon * 10**7
|
|
|
|
home.lat = gps.latitude; // Lat * 10**7
|
|
|
|
home.alt = gps.altitude;
|
|
|
|
home_is_set = TRUE;
|
|
|
|
|
|
|
|
// ground altitude in centimeters for pressure alt calculations
|
|
|
|
// ------------------------------------------------------------
|
|
|
|
ground_alt = gps.altitude;
|
|
|
|
press_alt = gps.altitude; // Set initial value for filter
|
|
|
|
//save_pressure_data();
|
|
|
|
|
|
|
|
// Save Home to EEPROM
|
|
|
|
// -------------------
|
|
|
|
set_wp_with_index(home, 0);
|
|
|
|
|
|
|
|
// Save prev loc
|
|
|
|
// -------------
|
|
|
|
prev_WP = home;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|