ardupilot/ArduCopterMega/commands_process.pde

179 lines
4.8 KiB
Plaintext
Raw Normal View History

/// -*- 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 index)
{
struct Location temp = get_command_with_index(index);
if (temp.id > MAV_CMD_NAV_LAST ){
gcs.send_text_P(SEVERITY_LOW,PSTR("error: non-Nav cmd"));
} else {
command_must_index = NO_COMMAND;
next_command.id = NO_COMMAND;
g.waypoint_index.set_and_save(index - 1);
update_commands();
}
}
// called by 10 Hz Medium loop
// ---------------------------
static void update_commands(void)
{
// fill command queue with a new command if available
if(next_command.id == NO_COMMAND){
// fetch next command if the next command queue is empty
// -----------------------------------------------------
if (g.waypoint_index < g.waypoint_total) {
// only if we have a cmd stored in EEPROM
next_command = get_command_with_index(g.waypoint_index + 1);
Serial.printf("queue CMD %d\n", next_command.id);
}
}
// Are we out of must commands and the queue is empty?
if(next_command.id == NO_COMMAND && command_must_index == NO_COMMAND){
// if no commands were available from EEPROM
// And we have no nav commands
// --------------------------------------------
if (command_must_ID == NO_COMMAND){
gcs.send_text_P(SEVERITY_LOW,PSTR("out of commands!"));
handle_no_commands();
}
}
// check to see if we need to act on our command queue
if (process_next_command()){
Serial.printf("did PNC: %d\n", next_command.id);
// We acted on the queue - let's debug that
// ----------------------------------------
print_wp(&next_command, g.waypoint_index);
// invalidate command queue so a new one is loaded
// -----------------------------------------------
clear_command_queue();
// make sure we load the next command index
// ----------------------------------------
increment_WP_index();
}
}
// called with GPS navigation update - not constantly
static void verify_commands(void)
{
if(verify_must()){
Serial.printf("verified must cmd %d\n" , command_must_index);
command_must_index = NO_COMMAND;
// reset rate controlled nav
g.pid_nav_wp.reset_I();
}else{
Serial.printf("verified must false %d\n" , command_must_index);
}
if(verify_may()){
Serial.printf("verified may cmd %d\n" , command_may_index);
command_may_index = NO_COMMAND;
command_may_ID = NO_COMMAND;
}
}
static bool
process_next_command()
{
// these are Navigation/Must commands
// ---------------------------------
if (command_must_index == NO_COMMAND){ // no current command loaded
if (next_command.id < MAV_CMD_NAV_LAST ){
// we remember the index of our mission here
command_must_index = g.waypoint_index + 1;
// Save CMD to Log
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.waypoint_index + 1, &next_command);
// Act on the new command
process_must();
return true;
}
}
// these are Condition/May commands
// ----------------------
if (command_may_index == NO_COMMAND){
if (next_command.id > MAV_CMD_NAV_LAST && next_command.id < MAV_CMD_CONDITION_LAST ){
// we remember the index of our mission here
command_may_index = g.waypoint_index + 1;
//SendDebug("MSG <pnc> new may ");
//SendDebugln(next_command.id,DEC);
//Serial.print("new command_may_index ");
//Serial.println(command_may_index,DEC);
// Save CMD to Log
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.waypoint_index + 1, &next_command);
process_may();
return true;
}
// these are Do/Now commands
// ---------------------------
if (next_command.id > MAV_CMD_CONDITION_LAST){
//SendDebug("MSG <pnc> new now ");
//SendDebugln(next_command.id,DEC);
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(g.waypoint_index + 1, &next_command);
process_now();
return true;
}
}
// we did not need any new commands
return false;
}
/**************************************************/
// These functions implement the commands.
/**************************************************/
static void process_must()
{
//gcs.send_text_P(SEVERITY_LOW,PSTR("New cmd: <process_must>"));
//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
//Serial.printf("pmst %d\n", (int)next_command.id);
// clear May indexes to force loading of more commands
// existing May commands are tossed.
command_may_index = NO_COMMAND;
command_may_ID = NO_COMMAND;
// remember our command ID
command_must_ID = next_command.id;
// implements the Flight Logic
handle_process_must();
}
static void process_may()
{
//gcs.send_text_P(SEVERITY_LOW,PSTR("<process_may>"));
//gcs.send_message(MSG_COMMAND_LIST, g.waypoint_index);
Serial.print("pmay");
command_may_ID = next_command.id;
handle_process_may();
}
static void process_now()
{
Serial.print("pnow");
handle_process_now();
}