ardupilot/ArduCopterMega/commands_logic.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/********************************************************************************/
// Command Event Handlers
/********************************************************************************/
void handle_process_must()
{
switch(next_command.id){
case MAV_CMD_NAV_TAKEOFF:
do_takeoff();
break;
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp();
break;
case MAV_CMD_NAV_LAND: // LAND to Waypoint
do_land();
break;
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
do_loiter_unlimited();
break;
case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
//do_loiter_turns();
break;
case MAV_CMD_NAV_LOITER_TIME:
do_loiter_time();
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL();
break;
default:
break;
}
}
void handle_process_may()
{
switch(next_command.id){
case MAV_CMD_CONDITION_DELAY:
do_wait_delay();
break;
case MAV_CMD_CONDITION_DISTANCE:
do_within_distance();
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
do_change_alt();
break;
case MAV_CMD_CONDITION_YAW:
do_yaw();
break;
default:
break;
}
}
void handle_process_now()
{
switch(next_command.id){
case MAV_CMD_DO_JUMP:
do_jump();
break;
case MAV_CMD_DO_CHANGE_SPEED:
//do_change_speed();
break;
case MAV_CMD_DO_SET_HOME:
do_set_home();
break;
case MAV_CMD_DO_SET_SERVO:
do_set_servo();
break;
case MAV_CMD_DO_SET_RELAY:
do_set_relay();
break;
case MAV_CMD_DO_REPEAT_SERVO:
do_repeat_servo();
break;
case MAV_CMD_DO_REPEAT_RELAY:
do_repeat_relay();
break;
case MAV_CMD_DO_SET_ROI:
do_target_yaw();
}
}
void handle_no_commands()
{
// we don't want to RTL. Maybe this will change in the future. RTL is kinda dangerous.
// use landing commands
/*
switch (control_mode){
default:
//set_mode(RTL);
break;
}
return;
*/
}
/********************************************************************************/
// Verify command Handlers
/********************************************************************************/
bool verify_must()
{
//Serial.printf("vmust: %d\n", command_must_ID);
switch(command_must_ID) {
case MAV_CMD_NAV_TAKEOFF:
return verify_takeoff();
break;
case MAV_CMD_NAV_LAND:
return verify_land();
break;
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp();
break;
case MAV_CMD_NAV_LOITER_UNLIM:
return false;
break;
case MAV_CMD_NAV_LOITER_TURNS:
return true;
break;
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time();
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
break;
default:
//gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current Must commands"));
return false;
break;
}
}
bool verify_may()
{
switch(command_may_ID) {
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
break;
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
break;
case MAV_CMD_CONDITION_YAW:
return verify_yaw();
break;
default:
//gcs.send_text_P(SEVERITY_HIGH,PSTR("<verify_must: default> No current May commands"));
return false;
break;
}
}
/********************************************************************************/
//
/********************************************************************************/
void do_RTL(void)
{
// we need to change this.
wp_control = LOITER_MODE;
control_mode = LOITER;
Location temp = home;
temp.alt = read_alt_to_hold();
//so we know where we are navigating from
next_WP = current_loc;
// Loads WP from Memory
// --------------------
set_next_WP(&temp);
// output control mode to the ground station
gcs.send_message(MSG_HEARTBEAT);
//if (g.log_bitmask & MASK_LOG_MODE)
// Log_Write_Mode(control_mode);
}
/********************************************************************************/
// Nav (Must) commands
/********************************************************************************/
void do_takeoff()
{
wp_control = LOITER_MODE;
// Start with current location
Location temp = current_loc;
// next_command.alt is a relative altitude!!!
temp.alt = next_command.alt + home.alt;
takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction
// Set our waypoint
set_next_WP(&temp);
}
void do_nav_wp()
{
wp_control = WP_MODE;
// next_command.alt is a relative altitude!!!
next_command.alt += home.alt;
set_next_WP(&next_command);
// this is our bitmask to verify we have met all conditions to move on
wp_verify_byte = 0;
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
// this is the delay, stored in seconds and expanded to millis
loiter_time_max = next_command.p1 * 1000;
// if we don't require an altitude minimum, we save this flag as passed (1)
if((next_WP.options & WP_OPTION_ALT_REQUIRED) == 0){
// we don't need to worry about it
wp_verify_byte |= NAV_ALTITUDE;
}
}
void do_land()
{
wp_control = LOITER_MODE;
//Serial.println("dlnd ");
// not really used right now, might be good for debugging
land_complete = false;
// A value that drives to 0 when the altitude doesn't change
velocity_land = 2000;
// used to limit decent rate
land_start = millis();
// used to limit decent rate
original_alt = current_loc.alt;
// hold at our current location
set_next_WP(&current_loc);
}
void do_loiter_unlimited()
{
wp_control = LOITER_MODE;
//Serial.println("dloi ");
if(next_command.lat == 0)
set_next_WP(&current_loc);
else
set_next_WP(&next_command);
}
void do_loiter_turns()
{
/*
wp_control = LOITER_MODE;
if(next_command.lat == 0)
set_next_WP(&current_loc);
else
set_next_WP(&next_command);
loiter_total = next_command.p1 * 360;
*/
}
void do_loiter_time()
{
/*
wp_control = LOITER_MODE;
if(next_command.lat == 0)
set_next_WP(&current_loc);
else
set_next_WP(&next_command);
loiter_time = millis();
loiter_time_max = next_command.p1 * 1000; // units are (seconds)
Serial.printf("dlt %ld, max %ld\n",loiter_time, loiter_time_max);
*/
}
/********************************************************************************/
// Verify Nav (Must) commands
/********************************************************************************/
bool verify_takeoff()
{
//Serial.printf("vt c_alt:%ld, n_alt:%ld\n", current_loc.alt, next_WP.alt);
// wait until we are ready!
if(g.rc_3.control_in == 0)
return false;
if (current_loc.alt > next_WP.alt){
//Serial.println("Y");
takeoff_complete = true;
return true;
}else{
//Serial.println("N");
return false;
}
}
bool verify_land()
{
// land at 1 meter per second
next_WP.alt = original_alt - ((millis() - land_start) / 5); // condition_value = our initial
velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
old_alt = current_loc.alt;
if(g.sonar_enabled){
// decide which sensor we're using
if(sonar_alt < 40){
land_complete = true;
//Serial.println("Y");
//return true;
}
}
if(velocity_land <= 0){
land_complete = true;
//return true;
}
//Serial.printf("N, %d\n", velocity_land);
//Serial.printf("N_alt, %ld\n", next_WP.alt);
//update_crosstrack();
return false;
}
bool verify_nav_wp()
{
update_crosstrack();
// Altitude checking
if(next_WP.options & WP_OPTION_ALT_REQUIRED){
// we desire a certain minimum altitude
if (current_loc.alt > next_WP.alt){
// we have reached that altitude
wp_verify_byte |= NAV_ALTITUDE;
}
}
// Did we pass the WP? // Distance checking
if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
// if we have a distance calc error, wp_distance may be less than 0
if(wp_distance > 0){
wp_verify_byte |= NAV_LOCATION;
if(loiter_time == 0){
loiter_time = millis();
}
}
}
// Hold at Waypoint checking, we cant move on until this is OK
if(wp_verify_byte & NAV_LOCATION){
// we have reached our goal
// loiter at the WP
wp_control = LOITER_MODE;
if ((millis() - loiter_time) > loiter_time_max) {
wp_verify_byte |= NAV_DELAY;
//gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
//Serial.println("vlt done");
}
}
//if(wp_verify_byte >= 7){
if(wp_verify_byte & NAV_LOCATION){
char message[30];
sprintf(message,"Reached Command #%i",command_must_index);
gcs.send_text(SEVERITY_LOW,message);
return true;
}else{
return false;
}
}
bool verify_loiter_unlim()
{
return false;
}
bool verify_loiter_time()
{
//Serial.printf("vlt %ld\n",(millis() - loiter_time));
if ((millis() - loiter_time) > loiter_time_max) { // scale loiter_time_max from (sec*10) to milliseconds
gcs.send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete"));
//Serial.println("vlt done");
return true;
}
return false;
}
bool verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs.send_text_P(SEVERITY_LOW,PSTR("Reached home"));
return true;
}else{
return false;
}
}
/********************************************************************************/
// Condition (May) commands
/********************************************************************************/
void do_wait_delay()
{
//Serial.print("dwd ");
condition_start = millis();
condition_value = next_command.lat * 1000; // convert to milliseconds
Serial.println(condition_value,DEC);
}
void do_change_alt()
{
Location temp = next_WP;
condition_start = current_loc.alt;
condition_value = next_command.alt + home.alt;
temp.alt = condition_value;
set_next_WP(&temp);
}
void do_within_distance()
{
condition_value = next_command.lat;
}
void do_yaw()
{
//Serial.println("dyaw ");
yaw_tracking = MAV_ROI_NONE;
// target angle in degrees
command_yaw_start = nav_yaw; // current position
command_yaw_start_time = millis();
command_yaw_dir = next_command.p1; // 1 = clockwise, 0 = counterclockwise
command_yaw_relative = next_command.lng; // 1 = Relative, 0 = Absolute
command_yaw_speed = next_command.lat * 100; // ms * 100
// if unspecified go 60° a second
if(command_yaw_speed == 0)
command_yaw_speed = 6000;
// if unspecified go counterclockwise
if(command_yaw_dir == 0)
command_yaw_dir = -1;
if (command_yaw_relative){
// relative
//command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
//command_yaw_end += nav_yaw;
//command_yaw_end = wrap_360(command_yaw_end);
command_yaw_delta = next_command.alt * 100;
}else{
// absolute
command_yaw_end = next_command.alt * 100;
// calculate the delta travel in deg * 100
if(command_yaw_dir == 1){
if(command_yaw_start >= command_yaw_end){
command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end);
}else{
command_yaw_delta = command_yaw_end - command_yaw_start;
}
}else{
if(command_yaw_start > command_yaw_end){
command_yaw_delta = command_yaw_start - command_yaw_end;
}else{
command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end);
}
}
command_yaw_delta = wrap_360(command_yaw_delta);
}
// rate to turn deg per second - default is ten
command_yaw_time = (command_yaw_delta / command_yaw_speed) * 1000;
}
/********************************************************************************/
// Verify Condition (May) commands
/********************************************************************************/
bool verify_wait_delay()
{
//Serial.print("vwd");
if ((millis() - condition_start) > condition_value){
//Serial.println("y");
condition_value = 0;
return true;
}
//Serial.println("n");
return false;
}
bool verify_change_alt()
{
if (condition_start < next_WP.alt){
// we are going higer
if(current_loc.alt > next_WP.alt){
condition_value = 0;
return true;
}
}else{
// we are going lower
if(current_loc.alt < next_WP.alt){
condition_value = 0;
return true;
}
}
return false;
}
bool verify_within_distance()
{
if (wp_distance < condition_value){
condition_value = 0;
return true;
}
return false;
}
bool verify_yaw()
{
//Serial.print("vyaw ");
if((millis() - command_yaw_start_time) > command_yaw_time){
// time out
// make sure we hold at the final desired yaw angle
nav_yaw = command_yaw_end;
//Serial.println("Y");
return true;
}else{
// else we need to be at a certain place
// power is a ratio of the time : .5 = half done
float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
nav_yaw = wrap_360(nav_yaw);
//Serial.printf("ny %ld\n",nav_yaw);
return false;
}
}
/********************************************************************************/
// Do (Now) commands
/********************************************************************************/
void do_target_yaw()
{
yaw_tracking = next_command.p1;
if(yaw_tracking == MAV_ROI_LOCATION){
target_WP = next_command;
}
}
void do_loiter_at_location()
{
next_WP = current_loc;
}
void do_jump()
{
struct Location temp;
if(next_command.lat > 0) {
command_must_index = 0;
command_may_index = 0;
temp = get_command_with_index(g.waypoint_index);
temp.lat = next_command.lat - 1; // Decrement repeat counter
set_command_with_index(temp, g.waypoint_index);
g.waypoint_index.set_and_save(next_command.p1 - 1);
}
}
void do_set_home()
{
if(next_command.p1 == 1) {
init_home();
} else {
home.id = MAV_CMD_NAV_WAYPOINT;
home.lng = next_command.lng; // Lon * 10**7
home.lat = next_command.lat; // Lat * 10**7
home.alt = max(next_command.alt, 0);
home_is_set = true;
}
}
void do_set_servo()
{
APM_RC.OutputCh(next_command.p1 - 1, next_command.alt);
}
void do_set_relay()
{
if (next_command.p1 == 1) {
relay_on();
} else if (next_command.p1 == 0) {
relay_off();
}else{
relay_toggle();
}
}
void do_repeat_servo()
{
event_id = next_command.p1 - 1;
if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) {
event_timer = 0;
event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
event_repeat = next_command.lat * 2;
event_value = next_command.alt;
switch(next_command.p1) {
case CH_5:
event_undo_value = g.rc_5.radio_trim;
break;
case CH_6:
event_undo_value = g.rc_6.radio_trim;
break;
case CH_7:
event_undo_value = g.rc_7.radio_trim;
break;
case CH_8:
event_undo_value = g.rc_8.radio_trim;
break;
}
update_events();
}
}
void do_repeat_relay()
{
event_id = RELAY_TOGGLE;
event_timer = 0;
event_delay = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds)
event_repeat = next_command.alt * 2;
update_events();
}