ardupilot/ArduCopterMega/commands_process.pde

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// called by 10 Hz loop
// --------------------
void update_commands(void)
{
// This function loads commands into three buffers
// when a new command is loaded, it is processed with process_XXX()
// ----------------------------------------------------------------
if((home_is_set == false) || (control_mode != AUTO)){
return; // don't do commands
}
if(control_mode == AUTO){
load_next_command();
process_next_command();
}
//verify_must();
//verify_may();
}
void load_next_command()
{
// fetch next command if it's empty
// --------------------------------
if(next_command.id == CMD_BLANK){
next_command = get_wp_with_index(wp_index+1);
if(next_command.id != CMD_BLANK){
//Serial.print("MSG fetch found new cmd from list at index: ");
//Serial.println((wp_index+1),DEC);
//Serial.print("MSG cmd id: ");
//Serial.println(next_command.id,DEC);
}
}
// If the preload failed, return or just Loiter
// generate a dynamic command for RTL
// --------------------------------------------
if(next_command.id == CMD_BLANK){
// we are out of commands!
//send_message(SEVERITY_LOW,"out of commands!");
//Serial.print("MSG out of commands, wp_index: ");
//Serial.println(wp_index,DEC);
switch (control_mode){
case LAND:
// don't get a new command
break;
default:
next_command = get_LOITER_home_wp();
//Serial.print("MSG Preload RTL cmd id: ");
//Serial.println(next_command.id,DEC);
break;
}
}
}
void process_next_command()
{
// these are waypoint/Must commands
// ---------------------------------
if (command_must_index == 0){ // no current command loaded
if (next_command.id >= 0x10 && next_command.id <= 0x1F ){
increment_WP_index();
save_command_index(); // to Recover from in air Restart
command_must_index = wp_index;
//Serial.print("MSG new command_must_id ");
//Serial.print(next_command.id,DEC);
//Serial.print(" index:");
//Serial.println(command_must_index,DEC);
if (log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(wp_index, &next_command);
process_must();
}
}
// these are May commands
// ----------------------
if (command_may_index == 0){
if (next_command.id >= 0x20 && next_command.id <= 0x2F ){
increment_WP_index();// this command is from the command list in EEPROM
command_may_index = wp_index;
//Serial.print("new command_may_index ");
//Serial.println(command_may_index,DEC);
if (log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(wp_index, &next_command);
process_may();
}
}
// these are do it now commands
// ---------------------------
if (next_command.id >= 0x30){
increment_WP_index();// this command is from the command list in EEPROM
if (log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(wp_index, &next_command);
process_now();
}
}
/*
These functions implement the waypoint commands.
*/
void process_must()
{
//Serial.print("process must index: ");
//Serial.println(command_must_index,DEC);
send_message(SEVERITY_LOW,"New cmd: ");
send_message(MSG_COMMAND, wp_index);
// clear May indexes
command_may_index = 0;
command_may_ID = 0;
command_must_ID = next_command.id;
// invalidate command so a new one is loaded
// -----------------------------------------
next_command.id = 0;
// reset navigation integrators
// -------------------------
reset_I();
// loads the waypoint into Next_WP struct
// --------------------------------------
set_next_WP(&next_command);
switch(command_must_ID){
case CMD_TAKEOFF: // TAKEOFF!
takeoff_altitude = (int)next_command.alt;
next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
break;
case CMD_WAYPOINT: // Navigate to Waypoint
break;
case CMD_R_WAYPOINT: // Navigate to Waypoint
next_command.lat += home.lat; // offset from home location
next_command.lng += home.lng; // offset from home location
// we've recalculated the WP so we need to set it again
set_next_WP(&next_command);
break;
case CMD_LAND: // LAND to Waypoint
velocity_land = 1000;
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
next_WP.alt = home.alt;
land_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
break;
case CMD_ALTITUDE: // Loiter indefinitely
next_WP.lat = current_loc.lat + 10; // so we don't have bad calcs
next_WP.lng = current_loc.lng + 10; // so we don't have bad calcs
break;
case CMD_LOITER: // Loiter indefinitely
break;
case CMD_LOITER_N_TURNS: // Loiter N Times
break;
case CMD_LOITER_TIME:
break;
case CMD_RTL:
return_to_launch();
break;
}
}
void process_may()
{
//Serial.print("process_may cmd# ");
//Serial.println(wp_index,DEC);
command_may_ID = next_command.id;
// invalidate command so a new one is loaded
// -----------------------------------------
next_command.id = 0;
send_message(SEVERITY_LOW,"New cmd: ");
send_message(MSG_COMMAND, wp_index);
// do the command
// --------------
switch(command_may_ID){
case CMD_DELAY: // Navigate to Waypoint
delay_start = millis();
delay_timeout = next_command.lat;
break;
case CMD_LAND_OPTIONS: // Land this puppy
break;
case CMD_ANGLE:
// p1: bearing
// alt: speed
// lat: direction (-1,1),
// lng: rel (1) abs (0)
// target angle in degrees
command_yaw_start = nav_yaw; // current position
command_yaw_start_time = millis();
// which direction to turn
// 1 = clockwise, -1 = counterclockwise
command_yaw_dir = next_command.lat;
// 1 = Relative or 0 = Absolute
if (next_command.lng == 1) {
// relative
command_yaw_dir = (command_yaw_end > 0) ? 1 : -1;
command_yaw_end += nav_yaw;
command_yaw_end = wrap_360(command_yaw_end);
} else {
// absolute
command_yaw_end = next_command.p1 * 100;
}
// if unspecified go 10° a second
if(command_yaw_speed == 0)
command_yaw_speed = 10;
// if unspecified go clockwise
if(command_yaw_dir == 0)
command_yaw_dir = 1;
// calculate the delta travel
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_speed = next_command.alt;
command_yaw_time = command_yaw_delta / command_yaw_speed;
//9000 turn in 10 seconds
//command_yaw_time = 9000/ 10 = 900° per second
break;
default:
break;
}
}
void process_now()
{
const float t5 = 100000.0;
//Serial.print("process_now cmd# ");
//Serial.println(wp_index,DEC);
byte id = next_command.id;
// invalidate command so a new one is loaded
// -----------------------------------------
next_command.id = 0;
send_message(SEVERITY_LOW, "New cmd: ");
send_message(MSG_COMMAND, wp_index);
// do the command
// --------------
switch(id){
case CMD_RESET_INDEX:
init_commands();
break;
case CMD_GETVAR_INDEX:
//
break;
case CMD_SENDVAR_INDEX:
//
break;
case CMD_TELEMETRY:
//
break;
//case CMD_AIRSPEED_CRUISE:
//airspeed_cruise = next_command.p1 * 100;
// todo save to EEPROM
//break;
case CMD_THROTTLE_CRUISE:
throttle_cruise = next_command.p1;
// todo save to EEPROM
break;
case CMD_RESET_HOME:
init_home();
break;
case CMD_KP_GAIN:
//kp[next_command.p1] = next_command.alt/t5;
// todo save to EEPROM
break;
case CMD_KI_GAIN:
//ki[next_command.p1] = next_command.alt/t5;
// todo save to EEPROM
break;
case CMD_KD_GAIN:
//kd[next_command.p1] = next_command.alt/t5;
// todo save to EEPROM
break;
case CMD_KI_MAX:
//integrator_max[next_command.p1] = next_command.alt/t5;
// todo save to EEPROM
break;
//case CMD_KFF_GAIN:
// kff[next_command.p1] = next_command.alt/t5;
// todo save to EEPROM
// break;
//case CMD_RADIO_TRIM:
//radio_trim[next_command.p1] = next_command.alt;
//save_EEPROM_trims();
//break;
//case CMD_RADIO_MAX:
// radio_max[next_command.p1] = next_command.alt;
// save_EEPROM_radio_minmax();
// break;
//case CMD_RADIO_MIN:
// radio_min[next_command.p1] = next_command.alt;
// save_EEPROM_radio_minmax();
// break;
case CMD_REPEAT:
new_event(&next_command);
break;
case CMD_SERVO:
APM_RC.OutputCh(next_command.p1, next_command.alt);
break;
case CMD_INDEX:
command_must_index = 0;
command_may_index = 0;
wp_index = next_command.p1 - 1;
break;
case CMD_RELAY:
if(next_command.p1 = 0){
relay_A();
}else{
relay_B();
}
break;
}
}
// Verify commands
// ---------------
void verify_must()
{
float power;
switch(command_must_ID) {
case CMD_ALTITUDE:
if (abs(next_WP.alt - current_loc.alt) < 100){
command_must_index = 0;
}
break;
case CMD_TAKEOFF: // Takeoff!
if (current_loc.alt > (home.alt + takeoff_altitude)){
command_must_index = 0;
takeoff_complete = true;
}
break;
case CMD_LAND:
// 10 - 9 = 1
velocity_land = ((old_alt - current_loc.alt) *.05) + (velocity_land * .95);
old_alt = current_loc.alt;
if(velocity_land == 0){
land_complete = true;
command_must_index = 0;
}
break;
case CMD_WAYPOINT: // reach a waypoint
if ((wp_distance > 0) && (wp_distance <= wp_radius)) {
Serial.print("MSG REACHED_WAYPOINT #");
Serial.println(command_must_index,DEC);
// clear the command queue;
command_must_index = 0;
}
// add in a more complex case
// Doug to do
if(loiter_sum > 300){
send_message(SEVERITY_MEDIUM,"Missed WP");
command_must_index = 0;
}
break;
case CMD_LOITER_N_TURNS: // LOITER N times
break;
case CMD_LOITER_TIME: // loiter N milliseconds
break;
case CMD_RTL:
if (wp_distance <= wp_radius) {
//Serial.println("REACHED_HOME");
command_must_index = 0;
}
break;
case CMD_LOITER: // Just plain LOITER
break;
case CMD_ANGLE:
if((millis() - command_yaw_start_time) > command_yaw_time){
command_must_index = 0;
nav_yaw = command_yaw_end;
}else{
// else we need to be at a certain place
// power is a ratio of the time : .5 = half done
power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time;
nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir);
}
break;
default:
send_message(SEVERITY_HIGH,"No current Must commands");
break;
}
}
void verify_may()
{
switch(command_may_ID) {
case CMD_DELAY:
if ((millis() - delay_start) > delay_timeout){
command_may_index = 0;
delay_timeout = 0;
}
case CMD_LAND_OPTIONS:
break;
}
}