diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde index c84e189330..183a38734f 100644 --- a/ArduPlane/commands_logic.pde +++ b/ArduPlane/commands_logic.pde @@ -6,149 +6,149 @@ static void handle_process_nav_cmd() { - // reset navigation integrators - // ------------------------- + // reset navigation integrators + // ------------------------- land_complete = false; - reset_I(); + reset_I(); - gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id); - switch(next_nav_command.id){ + gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id); + switch(next_nav_command.id) { - case MAV_CMD_NAV_TAKEOFF: - do_takeoff(); - break; + case MAV_CMD_NAV_TAKEOFF: + do_takeoff(); + break; - case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint - do_nav_wp(); - 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_LAND: // LAND to Waypoint + do_land(); + break; - case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely - do_loiter_unlimited(); - 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_TURNS: // Loiter N Times + do_loiter_turns(); + break; - case MAV_CMD_NAV_LOITER_TIME: - do_loiter_time(); - break; + case MAV_CMD_NAV_LOITER_TIME: + do_loiter_time(); + break; - case MAV_CMD_NAV_RETURN_TO_LAUNCH: - do_RTL(); - break; + case MAV_CMD_NAV_RETURN_TO_LAUNCH: + do_RTL(); + break; - default: - break; - } + default: + break; + } } static void handle_process_condition_command() { - gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); - switch(next_nonnav_command.id){ + gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); + switch(next_nonnav_command.id) { - case MAV_CMD_CONDITION_DELAY: - do_wait_delay(); - break; + case MAV_CMD_CONDITION_DELAY: + do_wait_delay(); + break; - case MAV_CMD_CONDITION_DISTANCE: - do_within_distance(); - break; + case MAV_CMD_CONDITION_DISTANCE: + do_within_distance(); + break; - case MAV_CMD_CONDITION_CHANGE_ALT: - do_change_alt(); - break; + case MAV_CMD_CONDITION_CHANGE_ALT: + do_change_alt(); + break; - default: - break; - } + default: + break; + } } static void handle_process_do_command() { - gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); - switch(next_nonnav_command.id){ + gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id); + switch(next_nonnav_command.id) { - case MAV_CMD_DO_JUMP: - do_jump(); - break; + case MAV_CMD_DO_JUMP: + do_jump(); + break; - case MAV_CMD_DO_CHANGE_SPEED: - do_change_speed(); - 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_HOME: + do_set_home(); + break; - case MAV_CMD_DO_SET_SERVO: - do_set_servo(); - 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_SET_RELAY: + do_set_relay(); + break; - case MAV_CMD_DO_REPEAT_SERVO: - do_repeat_servo(); - 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_REPEAT_RELAY: + do_repeat_relay(); + break; #if CAMERA == ENABLED - case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| - break; + case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| + break; - case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| - break; + case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| + break; - case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| - break; + case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| + break; #endif #if MOUNT == ENABLED - // Sets the region of interest (ROI) for a sensor set or the - // vehicle itself. This can then be used by the vehicles control - // system to control the vehicle attitude and the attitude of various - // devices such as cameras. - // |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| - case MAV_CMD_NAV_ROI: -#if 0 - // send the command to the camera mount - camera_mount.set_roi_cmd(&command_nav_queue); -#else - gcs_send_text_P(SEVERITY_LOW, PSTR("DO_SET_ROI not supported")); -#endif - break; + // Sets the region of interest (ROI) for a sensor set or the + // vehicle itself. This can then be used by the vehicles control + // system to control the vehicle attitude and the attitude of various + // devices such as cameras. + // |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| + case MAV_CMD_NAV_ROI: + #if 0 + // send the command to the camera mount + camera_mount.set_roi_cmd(&command_nav_queue); + #else + gcs_send_text_P(SEVERITY_LOW, PSTR("DO_SET_ROI not supported")); + #endif + break; - case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| - camera_mount.configure_cmd(); - break; + case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| + camera_mount.configure_cmd(); + break; - case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| - camera_mount.control_cmd(); - break; + case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| + camera_mount.control_cmd(); + break; #endif - } + } } static void handle_no_commands() { - gcs_send_text_fmt(PSTR("Returning to Home")); - next_nav_command = home; - next_nav_command.alt = read_alt_to_hold(); - next_nav_command.id = MAV_CMD_NAV_LOITER_UNLIM; - nav_command_ID = MAV_CMD_NAV_LOITER_UNLIM; - non_nav_command_ID = WAIT_COMMAND; - handle_process_nav_cmd(); + gcs_send_text_fmt(PSTR("Returning to Home")); + next_nav_command = home; + next_nav_command.alt = read_alt_to_hold(); + next_nav_command.id = MAV_CMD_NAV_LOITER_UNLIM; + nav_command_ID = MAV_CMD_NAV_LOITER_UNLIM; + non_nav_command_ID = WAIT_COMMAND; + handle_process_nav_cmd(); } @@ -156,40 +156,40 @@ static void handle_no_commands() // Verify command Handlers /********************************************************************************/ -static bool verify_nav_command() // Returns true if command complete +static bool verify_nav_command() // Returns true if command complete { - switch(nav_command_ID) { + switch(nav_command_ID) { - case MAV_CMD_NAV_TAKEOFF: - return verify_takeoff(); + case MAV_CMD_NAV_TAKEOFF: + return verify_takeoff(); - case MAV_CMD_NAV_LAND: - return verify_land(); + case MAV_CMD_NAV_LAND: + return verify_land(); - case MAV_CMD_NAV_WAYPOINT: - return verify_nav_wp(); + case MAV_CMD_NAV_WAYPOINT: + return verify_nav_wp(); - case MAV_CMD_NAV_LOITER_UNLIM: - return verify_loiter_unlim(); + case MAV_CMD_NAV_LOITER_UNLIM: + return verify_loiter_unlim(); - case MAV_CMD_NAV_LOITER_TURNS: - return verify_loiter_turns(); + case MAV_CMD_NAV_LOITER_TURNS: + return verify_loiter_turns(); - case MAV_CMD_NAV_LOITER_TIME: - return verify_loiter_time(); + case MAV_CMD_NAV_LOITER_TIME: + return verify_loiter_time(); - case MAV_CMD_NAV_RETURN_TO_LAUNCH: - return verify_RTL(); + case MAV_CMD_NAV_RETURN_TO_LAUNCH: + return verify_RTL(); - default: - gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd")); - } + default: + gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd")); + } return false; } -static bool verify_condition_command() // Returns true if command complete +static bool verify_condition_command() // Returns true if command complete { - switch(non_nav_command_ID) { + switch(non_nav_command_ID) { case NO_COMMAND: break; @@ -213,7 +213,7 @@ static bool verify_condition_command() // Returns true if command complete default: gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd")); break; - } + } return false; } @@ -223,60 +223,60 @@ static bool verify_condition_command() // Returns true if command complete static void do_RTL(void) { - control_mode = RTL; - crash_timer = 0; - next_WP = home; + control_mode = RTL; + crash_timer = 0; + next_WP = home; - // Altitude to hold over home - // Set by configuration tool - // ------------------------- - next_WP.alt = read_alt_to_hold(); + // Altitude to hold over home + // Set by configuration tool + // ------------------------- + next_WP.alt = read_alt_to_hold(); - if (g.log_bitmask & MASK_LOG_MODE) - Log_Write_Mode(control_mode); + if (g.log_bitmask & MASK_LOG_MODE) + Log_Write_Mode(control_mode); } static void do_takeoff() { - set_next_WP(&next_nav_command); - // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 - takeoff_pitch_cd = (int)next_nav_command.p1 * 100; - //Serial.printf_P(PSTR("TO pitch:")); Serial.println(takeoff_pitch); - //Serial.printf_P(PSTR("home.alt:")); Serial.println(home.alt); - takeoff_altitude = next_nav_command.alt; - //Serial.printf_P(PSTR("takeoff_altitude:")); Serial.println(takeoff_altitude); - next_WP.lat = home.lat + 1000; // so we don't have bad calcs - next_WP.lng = home.lng + 1000; // 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 - // Flag also used to override "on the ground" throttle disable + set_next_WP(&next_nav_command); + // pitch in deg, airspeed m/s, throttle %, track WP 1 or 0 + takeoff_pitch_cd = (int)next_nav_command.p1 * 100; + //Serial.printf_P(PSTR("TO pitch:")); Serial.println(takeoff_pitch); + //Serial.printf_P(PSTR("home.alt:")); Serial.println(home.alt); + takeoff_altitude = next_nav_command.alt; + //Serial.printf_P(PSTR("takeoff_altitude:")); Serial.println(takeoff_altitude); + next_WP.lat = home.lat + 1000; // so we don't have bad calcs + next_WP.lng = home.lng + 1000; // 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 + // Flag also used to override "on the ground" throttle disable } static void do_nav_wp() { - set_next_WP(&next_nav_command); + set_next_WP(&next_nav_command); } static void do_land() { - set_next_WP(&next_nav_command); + set_next_WP(&next_nav_command); } static void do_loiter_unlimited() { - set_next_WP(&next_nav_command); + set_next_WP(&next_nav_command); } static void do_loiter_turns() { - set_next_WP(&next_nav_command); - loiter_total = next_nav_command.p1 * 360; + set_next_WP(&next_nav_command); + loiter_total = next_nav_command.p1 * 360; } static void do_loiter_time() { - set_next_WP(&next_nav_command); - loiter_time_ms = millis(); - loiter_time_max_ms = next_nav_command.p1 * (uint32_t)1000; // units are seconds + set_next_WP(&next_nav_command); + loiter_time_ms = millis(); + loiter_time_max_ms = next_nav_command.p1 * (uint32_t)1000; // units are seconds } /********************************************************************************/ @@ -284,143 +284,143 @@ static void do_loiter_time() /********************************************************************************/ static bool verify_takeoff() { - if (ahrs.yaw_initialised()) { - if (hold_course == -1) { - // save our current course to take off + if (ahrs.yaw_initialised()) { + if (hold_course == -1) { + // save our current course to take off hold_course = ahrs.yaw_sensor; gcs_send_text_fmt(PSTR("Holding course %ld"), hold_course); - } - } + } + } - if (hold_course != -1) { - // recalc bearing error with hold_course; - nav_bearing_cd = hold_course; - // recalc bearing error - calc_bearing_error(); - } + if (hold_course != -1) { + // recalc bearing error with hold_course; + nav_bearing_cd = hold_course; + // recalc bearing error + calc_bearing_error(); + } - if (current_loc.alt > takeoff_altitude) { - hold_course = -1; - takeoff_complete = true; - return true; - } else { - return false; - } + if (current_loc.alt > takeoff_altitude) { + hold_course = -1; + takeoff_complete = true; + return true; + } else { + return false; + } } // we are executing a landing static bool verify_land() { - // we don't 'verify' landing in the sense that it never completes, - // so we don't verify command completion. Instead we use this to - // adjust final landing parameters + // we don't 'verify' landing in the sense that it never completes, + // so we don't verify command completion. Instead we use this to + // adjust final landing parameters // Set land_complete if we are within 2 seconds distance or within // 3 meters altitude of the landing point - if (((wp_distance > 0) && (wp_distance <= (g.land_flare_sec*g_gps->ground_speed*0.01))) - || (current_loc.alt <= next_WP.alt + g.land_flare_alt*100)) { + if (((wp_distance > 0) && (wp_distance <= (g.land_flare_sec*g_gps->ground_speed*0.01))) + || (current_loc.alt <= next_WP.alt + g.land_flare_alt*100)) { - land_complete = true; + land_complete = true; - if (hold_course == -1) { + if (hold_course == -1) { // we have just reached the threshold of to flare for landing. - // We now don't want to do any radical - // turns, as rolling could put the wings into the runway. - // To prevent further turns we set hold_course to the - // current heading. Previously we set this to - // crosstrack_bearing, but the xtrack bearing can easily - // be quite large at this point, and that could induce a - // sudden large roll correction which is very nasty at - // this point in the landing. - hold_course = ahrs.yaw_sensor; + // We now don't want to do any radical + // turns, as rolling could put the wings into the runway. + // To prevent further turns we set hold_course to the + // current heading. Previously we set this to + // crosstrack_bearing, but the xtrack bearing can easily + // be quite large at this point, and that could induce a + // sudden large roll correction which is very nasty at + // this point in the landing. + hold_course = ahrs.yaw_sensor; gcs_send_text_fmt(PSTR("Land Complete - Hold course %ld"), hold_course); - } + } // reload any airspeed or groundspeed parameters that may have - // been set for landing + // been set for landing g.airspeed_cruise_cm.load(); g.min_gndspeed_cm.load(); g.throttle_cruise.load(); - } + } - if (hold_course != -1) { - // recalc bearing error with hold_course; - nav_bearing_cd = hold_course; - // recalc bearing error - calc_bearing_error(); - } + if (hold_course != -1) { + // recalc bearing error with hold_course; + nav_bearing_cd = hold_course; + // recalc bearing error + calc_bearing_error(); + } - update_crosstrack(); - return false; + update_crosstrack(); + return false; } static bool verify_nav_wp() { - hold_course = -1; - update_crosstrack(); - if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { - gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), - (unsigned)nav_command_index, - (unsigned)get_distance(¤t_loc, &next_WP)); - return true; - } - - // have we circled around the waypoint? - if (loiter_sum > 300){ - gcs_send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP")); - return true; - } - - // have we flown past the waypoint? - if (location_passed_point(current_loc, prev_WP, next_WP)) { - gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), + hold_course = -1; + update_crosstrack(); + if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { + gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), (unsigned)nav_command_index, (unsigned)get_distance(¤t_loc, &next_WP)); return true; } - return false; + // have we circled around the waypoint? + if (loiter_sum > 300) { + gcs_send_text_P(SEVERITY_MEDIUM,PSTR("Missed WP")); + return true; + } + + // have we flown past the waypoint? + if (location_passed_point(current_loc, prev_WP, next_WP)) { + gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), + (unsigned)nav_command_index, + (unsigned)get_distance(¤t_loc, &next_WP)); + return true; + } + + return false; } static bool verify_loiter_unlim() { - update_loiter(); - calc_bearing_error(); - return false; + update_loiter(); + calc_bearing_error(); + return false; } static bool verify_loiter_time() { - update_loiter(); - calc_bearing_error(); - if ((millis() - loiter_time_ms) > loiter_time_max_ms) { - gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER time complete")); - return true; - } - return false; + update_loiter(); + calc_bearing_error(); + if ((millis() - loiter_time_ms) > loiter_time_max_ms) { + gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER time complete")); + return true; + } + return false; } static bool verify_loiter_turns() { - update_loiter(); - calc_bearing_error(); - if(loiter_sum > loiter_total) { - loiter_total = 0; - gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER orbits complete")); - // clear the command queue; - return true; - } - return false; + update_loiter(); + calc_bearing_error(); + if(loiter_sum > loiter_total) { + loiter_total = 0; + gcs_send_text_P(SEVERITY_LOW,PSTR("verify_nav: LOITER orbits complete")); + // clear the command queue; + return true; + } + return false; } static bool verify_RTL() { - if (wp_distance <= g.waypoint_radius) { - gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); - return true; - }else{ - return false; - } + if (wp_distance <= g.waypoint_radius) { + gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); + return true; + }else{ + return false; + } } /********************************************************************************/ @@ -429,23 +429,23 @@ static bool verify_RTL() static void do_wait_delay() { - condition_start = millis(); - condition_value = next_nonnav_command.lat * 1000; // convert to milliseconds + condition_start = millis(); + condition_value = next_nonnav_command.lat * 1000; // convert to milliseconds } static void do_change_alt() { - condition_rate = labs((int)next_nonnav_command.lat); - condition_value = next_nonnav_command.alt; - if(condition_value < current_loc.alt) condition_rate = -condition_rate; - target_altitude_cm = current_loc.alt + (condition_rate / 10); // Divide by ten for 10Hz update - next_WP.alt = condition_value; // For future nav calculations - offset_altitude_cm = 0; // For future nav calculations + condition_rate = labs((int)next_nonnav_command.lat); + condition_value = next_nonnav_command.alt; + if(condition_value < current_loc.alt) condition_rate = -condition_rate; + target_altitude_cm = current_loc.alt + (condition_rate / 10); // Divide by ten for 10Hz update + next_WP.alt = condition_value; // For future nav calculations + offset_altitude_cm = 0; // For future nav calculations } static void do_within_distance() { - condition_value = next_nonnav_command.lat; + condition_value = next_nonnav_command.lat; } /********************************************************************************/ @@ -454,30 +454,30 @@ static void do_within_distance() static bool verify_wait_delay() { - if ((unsigned)(millis() - condition_start) > (unsigned)condition_value){ - condition_value = 0; - return true; - } - return false; + if ((unsigned)(millis() - condition_start) > (unsigned)condition_value) { + condition_value = 0; + return true; + } + return false; } static bool verify_change_alt() { - if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= condition_value)) { - condition_value = 0; - return true; - } - target_altitude_cm += condition_rate / 10; - return false; + if( (condition_rate>=0 && current_loc.alt >= condition_value) || (condition_rate<=0 && current_loc.alt <= condition_value)) { + condition_value = 0; + return true; + } + target_altitude_cm += condition_rate / 10; + return false; } static bool verify_within_distance() { - if (wp_distance < condition_value){ - condition_value = 0; - return true; - } - return false; + if (wp_distance < condition_value) { + condition_value = 0; + return true; + } + return false; } /********************************************************************************/ @@ -486,122 +486,122 @@ static bool verify_within_distance() static void do_loiter_at_location() { - next_WP = current_loc; + next_WP = current_loc; } static void do_jump() { - struct Location temp; - gcs_send_text_fmt(PSTR("Jump to WP %u. Jumps left: %d"), + struct Location temp; + gcs_send_text_fmt(PSTR("Jump to WP %u. Jumps left: %d"), (unsigned)next_nonnav_command.p1, (int)next_nonnav_command.lat); - if (next_nonnav_command.lat > 0) { - nav_command_ID = NO_COMMAND; - next_nav_command.id = NO_COMMAND; - non_nav_command_ID = NO_COMMAND; + if (next_nonnav_command.lat > 0) { + nav_command_ID = NO_COMMAND; + next_nav_command.id = NO_COMMAND; + non_nav_command_ID = NO_COMMAND; - temp = get_cmd_with_index(g.command_index); - temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter + temp = get_cmd_with_index(g.command_index); + temp.lat = next_nonnav_command.lat - 1; // Decrement repeat counter - set_cmd_with_index(temp, g.command_index); + set_cmd_with_index(temp, g.command_index); gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1); - g.command_index.set_and_save(next_nonnav_command.p1 - 1); - nav_command_index = next_nonnav_command.p1 - 1; - next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump - process_next_command(); - } else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever - nav_command_ID = NO_COMMAND; - non_nav_command_ID = NO_COMMAND; + g.command_index.set_and_save(next_nonnav_command.p1 - 1); + nav_command_index = next_nonnav_command.p1 - 1; + next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump + process_next_command(); + } else if (next_nonnav_command.lat == -1) { // A repeat count of -1 = repeat forever + nav_command_ID = NO_COMMAND; + non_nav_command_ID = NO_COMMAND; gcs_send_text_fmt(PSTR("setting command index: %i"),next_nonnav_command.p1 - 1); - g.command_index.set_and_save(next_nonnav_command.p1 - 1); - nav_command_index = next_nonnav_command.p1 - 1; - next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump - process_next_command(); - } + g.command_index.set_and_save(next_nonnav_command.p1 - 1); + nav_command_index = next_nonnav_command.p1 - 1; + next_WP = prev_WP; // Need to back "next_WP" up as it was set to the next waypoint following the jump + process_next_command(); + } } static void do_change_speed() { - switch (next_nonnav_command.p1) - { - case 0: // Airspeed - if (next_nonnav_command.alt > 0) { - g.airspeed_cruise_cm.set(next_nonnav_command.alt * 100); - gcs_send_text_fmt(PSTR("Set airspeed %u m/s"), (unsigned)next_nonnav_command.alt); - } - break; - case 1: // Ground speed - g.min_gndspeed_cm.set(next_nonnav_command.alt * 100); - break; - } + switch (next_nonnav_command.p1) + { + case 0: // Airspeed + if (next_nonnav_command.alt > 0) { + g.airspeed_cruise_cm.set(next_nonnav_command.alt * 100); + gcs_send_text_fmt(PSTR("Set airspeed %u m/s"), (unsigned)next_nonnav_command.alt); + } + break; + case 1: // Ground speed + g.min_gndspeed_cm.set(next_nonnav_command.alt * 100); + break; + } - if(next_nonnav_command.lat > 0) - g.throttle_cruise.set(next_nonnav_command.lat); + if(next_nonnav_command.lat > 0) + g.throttle_cruise.set(next_nonnav_command.lat); } static void do_set_home() { - if(next_nonnav_command.p1 == 1 && GPS_enabled) { - init_home(); - } else { - home.id = MAV_CMD_NAV_WAYPOINT; - home.lng = next_nonnav_command.lng; // Lon * 10**7 - home.lat = next_nonnav_command.lat; // Lat * 10**7 - home.alt = max(next_nonnav_command.alt, 0); - home_is_set = true; - } + if(next_nonnav_command.p1 == 1 && GPS_enabled) { + init_home(); + } else { + home.id = MAV_CMD_NAV_WAYPOINT; + home.lng = next_nonnav_command.lng; // Lon * 10**7 + home.lat = next_nonnav_command.lat; // Lat * 10**7 + home.alt = max(next_nonnav_command.alt, 0); + home_is_set = true; + } } static void do_set_servo() { - APM_RC.OutputCh(next_nonnav_command.p1 - 1, next_nonnav_command.alt); + APM_RC.OutputCh(next_nonnav_command.p1 - 1, next_nonnav_command.alt); } static void do_set_relay() { - if (next_nonnav_command.p1 == 1) { - relay.on(); - } else if (next_nonnav_command.p1 == 0) { - relay.off(); - }else{ - relay.toggle(); - } + if (next_nonnav_command.p1 == 1) { + relay.on(); + } else if (next_nonnav_command.p1 == 0) { + relay.off(); + }else{ + relay.toggle(); + } } static void do_repeat_servo() { - event_id = next_nonnav_command.p1 - 1; + event_id = next_nonnav_command.p1 - 1; - if(next_nonnav_command.p1 >= CH_5 + 1 && next_nonnav_command.p1 <= CH_8 + 1) { + if(next_nonnav_command.p1 >= CH_5 + 1 && next_nonnav_command.p1 <= CH_8 + 1) { - event_timer_ms = 0; - event_delay_ms = next_nonnav_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) - event_repeat = next_nonnav_command.lat * 2; - event_value = next_nonnav_command.alt; + event_timer_ms = 0; + event_delay_ms = next_nonnav_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) + event_repeat = next_nonnav_command.lat * 2; + event_value = next_nonnav_command.alt; - switch(next_nonnav_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(); - } + switch(next_nonnav_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(); + } } static void do_repeat_relay() { - event_id = RELAY_TOGGLE; - event_timer_ms = 0; - event_delay_ms = next_nonnav_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) - event_repeat = next_nonnav_command.alt * 2; - update_events(); + event_id = RELAY_TOGGLE; + event_timer_ms = 0; + event_delay_ms = next_nonnav_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) + event_repeat = next_nonnav_command.alt * 2; + update_events(); }