mirror of https://github.com/ArduPilot/ardupilot
Rover: move AP_Mission object into ModeAuto class
This mirrors what we did for Copter
This commit is contained in:
Peter Barker
Randy Mackay
parent
aab9103356
commit
29782c3d2e
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@ -215,7 +215,7 @@ void Rover::Log_Write_Startup(uint8_t type)
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LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
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time_us : AP_HAL::micros64(),
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startup_type : type,
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command_total : mission.num_commands()
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command_total : mode_auto.mission.num_commands()
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};
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DataFlash.WriteBlock(&pkt, sizeof(pkt));
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}
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@ -397,7 +397,7 @@ const AP_Param::Info Rover::var_info[] = {
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// @Group: MIS_
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// @Path: ../libraries/AP_Mission/AP_Mission.cpp
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GOBJECT(mission, "MIS_", AP_Mission),
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GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
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// @Group: RSSI_
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// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
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@ -138,7 +138,7 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
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// if disarmed clear mission and set home to current location
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if (!rover.arming.is_armed()) {
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rover.mission.clear();
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rover.mode_auto.mission.clear();
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rover.set_home_to_current_location(false);
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return;
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}
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@ -155,8 +155,8 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
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cmd.id = MAV_CMD_NAV_WAYPOINT;
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// save command
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if (rover.mission.add_cmd(cmd)) {
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hal.console->printf("Added waypoint %u", (unsigned)rover.mission.num_commands());
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if (rover.mode_auto.mission.add_cmd(cmd)) {
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hal.console->printf("Added waypoint %u", (unsigned)rover.mode_auto.mission.num_commands());
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}
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}
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}
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@ -195,12 +195,6 @@ private:
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// selected navigation controller
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AP_Navigation *nav_controller;
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// Mission library
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AP_Mission mission{
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FUNCTOR_BIND_MEMBER(&Rover::start_command, bool, const AP_Mission::Mission_Command&),
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FUNCTOR_BIND_MEMBER(&Rover::verify_command_callback, bool, const AP_Mission::Mission_Command&),
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FUNCTOR_BIND_MEMBER(&Rover::exit_mission, void)};
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#if AP_AHRS_NAVEKF_AVAILABLE
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OpticalFlow optflow;
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#endif
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@ -307,14 +301,6 @@ private:
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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// Conditional command
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// A value used in condition commands (eg delay, change alt, etc.)
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// For example in a change altitude command, it is the altitude to change to.
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int32_t condition_value;
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// A starting value used to check the status of a conditional command.
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// For example in a delay command the condition_start records that start time for the delay
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int32_t condition_start;
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// 3D Location vectors
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// Location structure defined in AP_Common
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// The home location used for RTL. The location is set when we first get stable GPS lock
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@ -339,11 +325,6 @@ private:
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static const AP_Param::Info var_info[];
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static const LogStructure log_structure[];
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// Loiter control
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uint16_t loiter_duration; // How long we should loiter at the nav_waypoint (time in seconds)
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uint32_t loiter_start_time; // How long have we been loitering - The start time in millis
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bool previously_reached_wp; // set to true if we have EVER reached the waypoint
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// time that rudder/steering arming has been running
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uint32_t rudder_arm_timer;
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@ -417,30 +398,6 @@ private:
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// commands_logic.cpp
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void update_mission(void);
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bool start_command(const AP_Mission::Mission_Command& cmd);
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void exit_mission();
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bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
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bool verify_command(const AP_Mission::Mission_Command& cmd);
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void do_RTL(void);
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void do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination);
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void do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd);
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bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
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bool verify_RTL();
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bool verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
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bool verify_loiter_time(const AP_Mission::Mission_Command& cmd);
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bool verify_nav_set_yaw_speed();
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void do_wait_delay(const AP_Mission::Mission_Command& cmd);
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void do_within_distance(const AP_Mission::Mission_Command& cmd);
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bool verify_wait_delay();
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bool verify_within_distance();
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void do_change_speed(const AP_Mission::Mission_Command& cmd);
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void do_set_home(const AP_Mission::Mission_Command& cmd);
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void do_set_reverse(const AP_Mission::Mission_Command& cmd);
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enum Mis_Done_Behave {
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MIS_DONE_BEHAVE_HOLD = 0,
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MIS_DONE_BEHAVE_LOITER = 1
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};
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// commands.cpp
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void update_home_from_EKF();
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@ -55,8 +55,8 @@ bool Rover::set_home(const Location& loc, bool lock)
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// log new home position which mission library will pull from ahrs
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if (should_log(MASK_LOG_CMD)) {
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AP_Mission::Mission_Command temp_cmd;
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if (mission.read_cmd_from_storage(0, temp_cmd)) {
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DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
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if (mode_auto.mission.read_cmd_from_storage(0, temp_cmd)) {
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DataFlash.Log_Write_Mission_Cmd(mode_auto.mission, temp_cmd);
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}
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}
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}
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@ -67,7 +67,7 @@ bool Rover::set_home(const Location& loc, bool lock)
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}
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// Save Home to EEPROM
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mission.write_home_to_storage();
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mode_auto.mission.write_home_to_storage();
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// send text of home position to ground stations
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gcs().send_text(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %.2fm",
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@ -4,8 +4,8 @@
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void Rover::update_mission(void)
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{
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if (control_mode == &mode_auto) {
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if (ahrs.home_is_set() && mission.num_commands() > 1) {
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mission.update();
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if (ahrs.home_is_set() && mode_auto.mission.num_commands() > 1) {
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mode_auto.mission.update();
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}
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}
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}
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@ -13,11 +13,11 @@ void Rover::update_mission(void)
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
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bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
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{
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// log when new commands start
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if (should_log(MASK_LOG_CMD)) {
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DataFlash.Log_Write_Mission_Cmd(mission, cmd);
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if (rover.should_log(MASK_LOG_CMD)) {
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rover.DataFlash.Log_Write_Mission_Cmd(mission, cmd);
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",
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@ -68,12 +68,12 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
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case MAV_CMD_DO_SET_ROI:
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if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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// switch off the camera tracking if enabled
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if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
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camera_mount.set_mode_to_default();
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if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
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rover.camera_mount.set_mode_to_default();
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}
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} else {
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// send the command to the camera mount
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camera_mount.set_roi_target(cmd.content.location);
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rover.camera_mount.set_roi_target(cmd.content.location);
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}
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break;
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#endif
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@ -102,22 +102,22 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
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}
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// exit_mission - callback function called from ap-mission when the mission has completed
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void Rover::exit_mission()
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void ModeAuto::exit_mission()
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{
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// play a tone
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AP_Notify::events.mission_complete = 1;
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// send message
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gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
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if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && set_mode(mode_loiter, MODE_REASON_MISSION_END)) {
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if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && rover.set_mode(rover.mode_loiter, MODE_REASON_MISSION_END)) {
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return;
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}
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set_mode(mode_hold, MODE_REASON_MISSION_END);
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rover.set_mode(rover.mode_hold, MODE_REASON_MISSION_END);
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}
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// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
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// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
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bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
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bool ModeAuto::verify_command_callback(const AP_Mission::Mission_Command& cmd)
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{
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const bool cmd_complete = verify_command(cmd);
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@ -138,7 +138,7 @@ should move onto the next mission element.
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Return true if we do not recognize the command so that we move on to the next command
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*******************************************************************************/
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bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
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bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
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{
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT:
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@ -184,13 +184,13 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
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// Nav (Must) commands
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/********************************************************************************/
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void Rover::do_RTL(void)
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void ModeAuto::do_RTL(void)
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{
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// start rtl in auto mode
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mode_auto.start_RTL();
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start_RTL();
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}
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void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
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void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
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{
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// just starting so we haven't previously reached the waypoint
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previously_reached_wp = false;
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@ -210,12 +210,12 @@ void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_a
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// retrieve and sanitize target location
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Location cmdloc = cmd.content.location;
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location_sanitize(current_loc, cmdloc);
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mode_auto.set_desired_location(cmdloc, next_leg_bearing_cd);
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location_sanitize(rover.current_loc, cmdloc);
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set_desired_location(cmdloc, next_leg_bearing_cd);
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}
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// do_set_yaw_speed - turn to a specified heading and achieve and given speed
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void Rover::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
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{
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float desired_heading_cd;
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@ -229,17 +229,17 @@ void Rover::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
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}
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// set auto target
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const float speed_max = control_mode->get_speed_default();
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mode_auto.set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
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const float speed_max = get_speed_default();
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set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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// exit immediately if we haven't reached the destination
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if (!mode_auto.reached_destination()) {
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if (!reached_destination()) {
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return false;
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}
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@ -269,19 +269,19 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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}
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}
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bool Rover::verify_RTL()
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bool ModeAuto::verify_RTL()
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{
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return mode_auto.reached_destination();
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return reached_destination();
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}
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bool Rover::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
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bool ModeAuto::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
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{
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verify_nav_wp(cmd);
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return false;
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}
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// verify_loiter_time - check if we have loitered long enough
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bool Rover::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
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bool ModeAuto::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
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{
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const bool result = verify_nav_wp(cmd);
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if (result) {
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@ -291,22 +291,22 @@ bool Rover::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
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}
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// verify_yaw - return true if we have reached the desired heading
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bool Rover::verify_nav_set_yaw_speed()
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bool ModeAuto::verify_nav_set_yaw_speed()
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{
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return mode_auto.reached_heading();
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return reached_heading();
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::do_wait_delay(const AP_Mission::Mission_Command& cmd)
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{
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condition_start = millis();
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condition_value = static_cast<int32_t>(cmd.content.delay.seconds * 1000); // convert seconds to milliseconds
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}
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void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::do_within_distance(const AP_Mission::Mission_Command& cmd)
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{
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condition_value = cmd.content.distance.meters;
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}
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@ -315,7 +315,7 @@ void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
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// Verify Condition (May) commands
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/********************************************************************************/
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bool Rover::verify_wait_delay()
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bool ModeAuto::verify_wait_delay()
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{
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if (static_cast<uint32_t>(millis() - condition_start) > static_cast<uint32_t>(condition_value)) {
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condition_value = 0;
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@ -324,9 +324,9 @@ bool Rover::verify_wait_delay()
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return false;
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}
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bool Rover::verify_within_distance()
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bool ModeAuto::verify_within_distance()
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{
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if (mode_auto.get_distance_to_destination() < condition_value) {
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if (get_distance_to_destination() < condition_value) {
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condition_value = 0;
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return true;
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}
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@ -338,24 +338,24 @@ bool Rover::verify_within_distance()
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// Do (Now) commands
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/********************************************************************************/
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void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
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{
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// set speed for active mode
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if (control_mode->set_desired_speed(cmd.content.speed.target_ms)) {
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if (set_desired_speed(cmd.content.speed.target_ms)) {
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gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms));
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}
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}
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void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.p1 == 1 && have_position) {
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set_home_to_current_location(false);
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if (cmd.p1 == 1 && rover.have_position) {
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rover.set_home_to_current_location(false);
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} else {
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set_home(cmd.content.location, false);
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rover.set_home(cmd.content.location, false);
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}
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}
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void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
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void ModeAuto::do_set_reverse(const AP_Mission::Mission_Command& cmd)
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{
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control_mode->set_reversed(cmd.p1 == 1);
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set_reversed(cmd.p1 == 1);
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}
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@ -8,7 +8,6 @@ Mode::Mode() :
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channel_steer(rover.channel_steer),
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channel_throttle(rover.channel_throttle),
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channel_lateral(rover.channel_lateral),
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mission(rover.mission),
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attitude_control(rover.g2.attitude_control)
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{ }
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@ -4,6 +4,7 @@
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Mission/AP_Mission.h>
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#include "defines.h"
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@ -195,7 +196,6 @@ protected:
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class RC_Channel *&channel_steer;
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class RC_Channel *&channel_throttle;
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class RC_Channel *&channel_lateral;
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class AP_Mission &mission;
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class AR_AttitudeControl &attitude_control;
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@ -267,6 +267,11 @@ public:
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// start RTL (within auto)
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||||
void start_RTL();
|
||||
|
||||
AP_Mission mission{
|
||||
FUNCTOR_BIND_MEMBER(&ModeAuto::start_command, bool, const AP_Mission::Mission_Command&),
|
||||
FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&),
|
||||
FUNCTOR_BIND_MEMBER(&ModeAuto::exit_mission, void)};
|
||||
|
||||
protected:
|
||||
|
||||
bool _enter() override;
|
||||
|
|
@ -289,6 +294,46 @@ private:
|
|||
bool auto_triggered;
|
||||
|
||||
bool _reached_heading; // true when vehicle has reached desired heading in TurnToHeading sub mode
|
||||
|
||||
bool start_command(const AP_Mission::Mission_Command& cmd);
|
||||
void exit_mission();
|
||||
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
|
||||
|
||||
bool verify_command(const AP_Mission::Mission_Command& cmd);
|
||||
void do_RTL(void);
|
||||
void do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination);
|
||||
void do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd);
|
||||
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
|
||||
bool verify_RTL();
|
||||
bool verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
|
||||
bool verify_loiter_time(const AP_Mission::Mission_Command& cmd);
|
||||
bool verify_nav_set_yaw_speed();
|
||||
void do_wait_delay(const AP_Mission::Mission_Command& cmd);
|
||||
void do_within_distance(const AP_Mission::Mission_Command& cmd);
|
||||
bool verify_wait_delay();
|
||||
bool verify_within_distance();
|
||||
void do_change_speed(const AP_Mission::Mission_Command& cmd);
|
||||
void do_set_home(const AP_Mission::Mission_Command& cmd);
|
||||
void do_set_reverse(const AP_Mission::Mission_Command& cmd);
|
||||
|
||||
enum Mis_Done_Behave {
|
||||
MIS_DONE_BEHAVE_HOLD = 0,
|
||||
MIS_DONE_BEHAVE_LOITER = 1
|
||||
};
|
||||
|
||||
// Loiter control
|
||||
uint16_t loiter_duration; // How long we should loiter at the nav_waypoint (time in seconds)
|
||||
uint32_t loiter_start_time; // How long have we been loitering - The start time in millis
|
||||
bool previously_reached_wp; // set to true if we have EVER reached the waypoint
|
||||
|
||||
// Conditional command
|
||||
// A value used in condition commands (eg delay, change alt, etc.)
|
||||
// For example in a change altitude command, it is the altitude to change to.
|
||||
int32_t condition_value;
|
||||
// A starting value used to check the status of a conditional command.
|
||||
// For example in a delay command the condition_start records that start time for the delay
|
||||
int32_t condition_start;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -181,11 +181,11 @@ void Rover::startup_ground(void)
|
|||
startup_INS_ground();
|
||||
|
||||
// initialise mission library
|
||||
mission.init();
|
||||
mode_auto.mission.init();
|
||||
|
||||
// initialise DataFlash library
|
||||
#if LOGGING_ENABLED == ENABLED
|
||||
DataFlash.set_mission(&mission);
|
||||
DataFlash.set_mission(&mode_auto.mission);
|
||||
DataFlash.setVehicle_Startup_Log_Writer(
|
||||
FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
|
||||
);
|
||||
|
|
@ -354,7 +354,7 @@ bool Rover::disarm_motors(void)
|
|||
}
|
||||
if (control_mode != &mode_auto) {
|
||||
// reset the mission on disarm if we are not in auto
|
||||
mission.reset();
|
||||
mode_auto.mission.reset();
|
||||
}
|
||||
|
||||
// only log if disarming was successful
|
||||
|
|
|
|||
Loading…
Reference in New Issue