ardupilot/ArduCopter/commands_process.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// For changing active command mid-mission
//----------------------------------------
static void change_command(uint8_t cmd_index)
{
//Serial.printf("change_command: %d\n",cmd_index );
// limit range
cmd_index = min(g.command_total - 1, cmd_index);
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// load command
struct Location temp = get_cmd_with_index(cmd_index);
//Serial.printf("loading cmd: %d with id:%d\n", cmd_index, temp.id);
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// verify it's a nav command
if(temp.id > MAV_CMD_NAV_LAST) {
//gcs_send_text_P(SEVERITY_LOW,PSTR("error: non-Nav cmd"));
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}else{
// clear out command queue
init_commands();
// copy command to the queue
command_nav_queue = temp;
command_nav_index = cmd_index;
execute_nav_command();
}
}
// called by 10 Hz loop
// --------------------
static void update_commands()
{
//Serial.printf("update_commands: %d\n",increment );
// A: if we do not have any commands there is nothing to do
// B: We have completed the mission, don't redo the mission
// XXX debug
//uint8_t tmp = g.command_index.get();
//Serial.printf("command_index %u \n", tmp);
if(g.command_total <= 1 || g.command_index >= 255)
return;
if(command_nav_queue.id == NO_COMMAND) {
// Our queue is empty
// fill command queue with a new command if available, or exit mission
// -------------------------------------------------------------------
// find next nav command
int16_t tmp_index;
if(command_nav_index < g.command_total) {
// what is the next index for a nav command?
tmp_index = find_next_nav_index(command_nav_index + 1);
if(tmp_index == -1) {
exit_mission();
return;
}else{
command_nav_index = tmp_index;
command_nav_queue = get_cmd_with_index(command_nav_index);
execute_nav_command();
}
// try to load the next nav for better speed control
// find_next_nav_index takes the next guess to start the search
tmp_index = find_next_nav_index(command_nav_index + 1);
// Fast corner management
// ----------------------
if(tmp_index == -1) {
// there are no more commands left
}else{
// we have at least one more cmd left
Location tmp_loc = get_cmd_with_index(tmp_index);
if(tmp_loc.lat == 0) {
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ap.fast_corner = false;
}else{
int32_t temp = get_bearing_cd(&next_WP, &tmp_loc) - original_target_bearing;
temp = wrap_180(temp);
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ap.fast_corner = labs(temp) < 6000;
}
// If we try and stop at a corner, lets reset our desired speed to prevent
// too much jerkyness.
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if(false == ap.fast_corner){
reset_desired_speed();
}
}
}else{
// we are out of commands
exit_mission();
return;
}
}
if(command_cond_queue.id == NO_COMMAND) {
// Our queue is empty
// fill command queue with a new command if available, or do nothing
// -------------------------------------------------------------------
// no nav commands completed yet
if(prev_nav_index == NO_COMMAND)
return;
if(command_cond_index >= command_nav_index) {
// don't process the fututre
return;
}else if(command_cond_index == NO_COMMAND) {
// start from scratch
// look at command after the most recent completed nav
command_cond_index = prev_nav_index + 1;
}else{
// we've completed 1 cond, look at next command for another
command_cond_index++;
}
if(command_cond_index < (g.command_total -2)) {
// we're OK to load a new command (last command must be a nav command)
command_cond_queue = get_cmd_with_index(command_cond_index);
if(command_cond_queue.id > MAV_CMD_CONDITION_LAST) {
// this is a do now command
process_now_command();
// clear command queue
command_cond_queue.id = NO_COMMAND;
}else if(command_cond_queue.id > MAV_CMD_NAV_LAST) {
// this is a conditional command
process_cond_command();
}else{
// this is a nav command, don't process
// clear the command conditional queue and index
prev_nav_index = NO_COMMAND;
command_cond_index = NO_COMMAND;
command_cond_queue.id = NO_COMMAND;
}
}
}
}
static void execute_nav_command(void)
{
// This is what we report to MAVLINK
g.command_index = command_nav_index;
// Save CMD to Log
if(g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.command_index, &command_nav_queue);
// clear navigation prameters
reset_nav_params();
// Act on the new command
process_nav_command();
// clear May indexes to force loading of more commands
// existing May commands are tossed.
command_cond_index = NO_COMMAND;
}
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// called with GPS navigation update - not constantly
static void verify_commands(void)
{
if(verify_must()) {
//Serial.printf("verified must cmd %d\n" , command_nav_index);
command_nav_queue.id = NO_COMMAND;
// store our most recent executed nav command
prev_nav_index = command_nav_index;
// Wipe existing conditionals
command_cond_index = NO_COMMAND;
command_cond_queue.id = NO_COMMAND;
}else{
//Serial.printf("verified must false %d\n" , command_nav_index);
}
if(verify_may()) {
//Serial.printf("verified may cmd %d\n" , command_cond_index);
command_cond_queue.id = NO_COMMAND;
}
}
// Finds the next navgation command in EEPROM
static int16_t find_next_nav_index(int16_t search_index)
{
Location tmp;
while(search_index < g.command_total) {
tmp = get_cmd_with_index(search_index);
if(tmp.id <= MAV_CMD_NAV_LAST) {
return search_index;
}else{
search_index++;
}
}
return -1;
}
static void exit_mission()
{
// we are out of commands
g.command_index = 255;
// if we are on the ground, enter stabilize, else Land
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if(ap.land_complete) {
// we will disarm the motors after landing.
}else{
// If the approach altitude is valid (above 1m), do approach, else land
if(g.rtl_approach_alt == 0) {
set_mode(LAND);
}else{
set_mode(LOITER);
set_new_altitude(g.rtl_approach_alt);
}
}
}