mirror of https://github.com/ArduPilot/ardupilot
uncrustify ArduPlane/commands_logic.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
58381e0d8e
commit
8e3fe50338
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@ -6,149 +6,149 @@
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static void
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handle_process_nav_cmd()
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{
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// reset navigation integrators
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// -------------------------
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// reset navigation integrators
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// -------------------------
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land_complete = false;
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reset_I();
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reset_I();
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id);
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switch(next_nav_command.id){
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nav_command.id);
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switch(next_nav_command.id) {
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case MAV_CMD_NAV_TAKEOFF:
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do_takeoff();
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break;
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case MAV_CMD_NAV_TAKEOFF:
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do_takeoff();
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break;
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp();
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break;
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case MAV_CMD_NAV_LAND: // LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LAND: // LAND to Waypoint
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do_land();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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do_loiter_unlimited();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
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do_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times
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do_loiter_turns();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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do_loiter_time();
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break;
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case MAV_CMD_NAV_LOITER_TIME:
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do_loiter_time();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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default:
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break;
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}
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default:
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break;
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}
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}
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static void
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handle_process_condition_command()
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{
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id);
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switch(next_nonnav_command.id){
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id);
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switch(next_nonnav_command.id) {
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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do_change_alt();
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT:
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do_change_alt();
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break;
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default:
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break;
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}
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default:
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break;
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}
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}
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static void handle_process_do_command()
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{
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id);
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switch(next_nonnav_command.id){
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gcs_send_text_fmt(PSTR("Executing command ID #%i"),next_nonnav_command.id);
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switch(next_nonnav_command.id) {
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case MAV_CMD_DO_JUMP:
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do_jump();
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break;
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case MAV_CMD_DO_JUMP:
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do_jump();
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break;
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed();
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break;
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed();
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home();
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home();
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break;
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case MAV_CMD_DO_SET_SERVO:
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_SERVO:
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do_set_servo();
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break;
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case MAV_CMD_DO_SET_RELAY:
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do_set_relay();
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break;
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case MAV_CMD_DO_SET_RELAY:
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do_set_relay();
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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do_repeat_servo();
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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do_repeat_relay();
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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do_repeat_relay();
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break;
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#if CAMERA == ENABLED
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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|
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break;
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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|
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break;
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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)|
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break;
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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)|
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break;
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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|
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break;
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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|
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break;
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#endif
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#if MOUNT == ENABLED
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// Sets the region of interest (ROI) for a sensor set or the
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// vehicle itself. This can then be used by the vehicles control
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// system to control the vehicle attitude and the attitude of various
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// devices such as cameras.
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// |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|
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case MAV_CMD_NAV_ROI:
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#if 0
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// send the command to the camera mount
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camera_mount.set_roi_cmd(&command_nav_queue);
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#else
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gcs_send_text_P(SEVERITY_LOW, PSTR("DO_SET_ROI not supported"));
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#endif
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break;
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// Sets the region of interest (ROI) for a sensor set or the
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// vehicle itself. This can then be used by the vehicles control
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// system to control the vehicle attitude and the attitude of various
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// devices such as cameras.
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// |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|
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case MAV_CMD_NAV_ROI:
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#if 0
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// send the command to the camera mount
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camera_mount.set_roi_cmd(&command_nav_queue);
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#else
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gcs_send_text_P(SEVERITY_LOW, PSTR("DO_SET_ROI not supported"));
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#endif
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break;
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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|
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camera_mount.configure_cmd();
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break;
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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|
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camera_mount.configure_cmd();
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break;
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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|
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camera_mount.control_cmd();
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break;
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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|
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camera_mount.control_cmd();
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break;
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#endif
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}
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}
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}
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static void handle_no_commands()
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{
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gcs_send_text_fmt(PSTR("Returning to Home"));
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next_nav_command = home;
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next_nav_command.alt = read_alt_to_hold();
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next_nav_command.id = MAV_CMD_NAV_LOITER_UNLIM;
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nav_command_ID = MAV_CMD_NAV_LOITER_UNLIM;
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non_nav_command_ID = WAIT_COMMAND;
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handle_process_nav_cmd();
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gcs_send_text_fmt(PSTR("Returning to Home"));
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next_nav_command = home;
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next_nav_command.alt = read_alt_to_hold();
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next_nav_command.id = MAV_CMD_NAV_LOITER_UNLIM;
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nav_command_ID = MAV_CMD_NAV_LOITER_UNLIM;
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non_nav_command_ID = WAIT_COMMAND;
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handle_process_nav_cmd();
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}
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@ -156,40 +156,40 @@ static void handle_no_commands()
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// Verify command Handlers
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/********************************************************************************/
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static bool verify_nav_command() // Returns true if command complete
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static bool verify_nav_command() // Returns true if command complete
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{
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switch(nav_command_ID) {
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switch(nav_command_ID) {
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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case MAV_CMD_NAV_TAKEOFF:
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return verify_takeoff();
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case MAV_CMD_NAV_LAND:
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return verify_land();
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case MAV_CMD_NAV_LAND:
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return verify_land();
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp();
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp();
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlim();
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlim();
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_loiter_turns();
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case MAV_CMD_NAV_LOITER_TURNS:
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return verify_loiter_turns();
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time();
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd"));
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}
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_nav: Invalid or no current Nav cmd"));
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}
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return false;
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}
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static bool verify_condition_command() // Returns true if command complete
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static bool verify_condition_command() // Returns true if command complete
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{
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switch(non_nav_command_ID) {
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switch(non_nav_command_ID) {
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case NO_COMMAND:
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break;
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@ -213,7 +213,7 @@ static bool verify_condition_command() // Returns true if command complete
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default:
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gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Invalid or no current Condition cmd"));
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break;
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}
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}
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return false;
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}
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@ -223,60 +223,60 @@ static bool verify_condition_command() // Returns true if command complete
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static void do_RTL(void)
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{
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control_mode = RTL;
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crash_timer = 0;
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next_WP = home;
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control_mode = RTL;
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crash_timer = 0;
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next_WP = home;
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// Altitude to hold over home
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// Set by configuration tool
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// -------------------------
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next_WP.alt = read_alt_to_hold();
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// Altitude to hold over home
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// Set by configuration tool
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// -------------------------
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next_WP.alt = read_alt_to_hold();
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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if (g.log_bitmask & MASK_LOG_MODE)
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Log_Write_Mode(control_mode);
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}
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static void do_takeoff()
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{
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set_next_WP(&next_nav_command);
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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takeoff_pitch_cd = (int)next_nav_command.p1 * 100;
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//Serial.printf_P(PSTR("TO pitch:")); Serial.println(takeoff_pitch);
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//Serial.printf_P(PSTR("home.alt:")); Serial.println(home.alt);
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takeoff_altitude = next_nav_command.alt;
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//Serial.printf_P(PSTR("takeoff_altitude:")); Serial.println(takeoff_altitude);
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next_WP.lat = home.lat + 1000; // so we don't have bad calcs
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next_WP.lng = home.lng + 1000; // so we don't have bad calcs
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takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
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// Flag also used to override "on the ground" throttle disable
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set_next_WP(&next_nav_command);
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// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
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takeoff_pitch_cd = (int)next_nav_command.p1 * 100;
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//Serial.printf_P(PSTR("TO pitch:")); Serial.println(takeoff_pitch);
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//Serial.printf_P(PSTR("home.alt:")); Serial.println(home.alt);
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takeoff_altitude = next_nav_command.alt;
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//Serial.printf_P(PSTR("takeoff_altitude:")); Serial.println(takeoff_altitude);
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next_WP.lat = home.lat + 1000; // so we don't have bad calcs
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next_WP.lng = home.lng + 1000; // so we don't have bad calcs
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takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction
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// Flag also used to override "on the ground" throttle disable
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}
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static void do_nav_wp()
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{
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set_next_WP(&next_nav_command);
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set_next_WP(&next_nav_command);
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}
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static void do_land()
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{
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set_next_WP(&next_nav_command);
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set_next_WP(&next_nav_command);
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}
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static void do_loiter_unlimited()
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{
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set_next_WP(&next_nav_command);
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set_next_WP(&next_nav_command);
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}
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static void do_loiter_turns()
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{
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set_next_WP(&next_nav_command);
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loiter_total = next_nav_command.p1 * 360;
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set_next_WP(&next_nav_command);
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loiter_total = next_nav_command.p1 * 360;
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}
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static void do_loiter_time()
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{
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set_next_WP(&next_nav_command);
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loiter_time_ms = millis();
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loiter_time_max_ms = next_nav_command.p1 * (uint32_t)1000; // units are seconds
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set_next_WP(&next_nav_command);
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loiter_time_ms = millis();
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loiter_time_max_ms = next_nav_command.p1 * (uint32_t)1000; // units are seconds
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}
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/********************************************************************************/
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@ -284,143 +284,143 @@ static void do_loiter_time()
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/********************************************************************************/
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static bool verify_takeoff()
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{
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if (ahrs.yaw_initialised()) {
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if (hold_course == -1) {
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// save our current course to take off
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if (ahrs.yaw_initialised()) {
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if (hold_course == -1) {
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// save our current course to take off
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hold_course = ahrs.yaw_sensor;
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gcs_send_text_fmt(PSTR("Holding course %ld"), hold_course);
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}
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}
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}
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}
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if (hold_course != -1) {
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// recalc bearing error with hold_course;
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nav_bearing_cd = hold_course;
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// recalc bearing error
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calc_bearing_error();
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||||
}
|
||||
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
|
||||
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();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue