mirror of https://github.com/ArduPilot/ardupilot
Mission: support GUIDED_ENABLE and GUIDED_LIMITS
This replaces the ardupilot only NAV_GUIDED command. Also remove support for NAV_VELOCITY mission command which will be replaced by SET_POSITION_TARGET non-mission command.
This commit is contained in:
Randy Mackay
parent
e5c3c306bd
commit
be1621877f
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@ -517,23 +517,9 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
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cmd.p1 = packet.param1; // delay at waypoint in seconds
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break;
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#ifdef MAV_CMD_NAV_GUIDED
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case MAV_CMD_NAV_GUIDED: // MAV ID: 90
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cmd.p1 = packet.param1; // max time in seconds the external controller will be allowed to control the vehicle
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cmd.content.nav_guided.alt_min = packet.param2; // min alt below which the command will be aborted. 0 for no lower alt limit
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cmd.content.nav_guided.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit
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cmd.content.nav_guided.horiz_max = packet.param4; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
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case MAV_CMD_NAV_GUIDED_ENABLE: // MAV ID: 92
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cmd.p1 = packet.param1; // on/off. >0.5 means "on", hand-over control to external controller
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break;
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#endif
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#ifdef MAV_CMD_NAV_VELOCITY
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case MAV_CMD_NAV_VELOCITY: // MAV ID: 91
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cmd.p1 = packet.param1; // frame - unused
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cmd.content.nav_velocity.x = packet.x; // lat (i.e. north) velocity in m/s
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cmd.content.nav_velocity.y = packet.y; // lon (i.e. east) velocity in m/s
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cmd.content.nav_velocity.z = packet.z; // vertical (i.e. up) velocity in m/s
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break;
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#endif
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case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
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cmd.content.delay.seconds = packet.param1; // delay in seconds
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@ -630,6 +616,13 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
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cmd.content.gripper.action = packet.param2; // action 0=release, 1=grab. See GRIPPER_ACTION enum
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break;
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case MAV_CMD_DO_GUIDED_LIMITS: // MAV ID: 222
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cmd.p1 = packet.param1; // max time in seconds the external controller will be allowed to control the vehicle
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cmd.content.guided_limits.alt_min = packet.param2; // min alt below which the command will be aborted. 0 for no lower alt limit
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cmd.content.guided_limits.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit
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cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
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break;
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default:
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// unrecognised command
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return false;
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@ -785,23 +778,9 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
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packet.param1 = cmd.p1; // delay at waypoint in seconds
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break;
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#ifdef MAV_CMD_NAV_GUIDED
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case MAV_CMD_NAV_GUIDED: // MAV ID: 90
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packet.param1 = cmd.p1; // max time in seconds the external controller will be allowed to control the vehicle
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packet.param2 = cmd.content.nav_guided.alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
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packet.param3 = cmd.content.nav_guided.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
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packet.param4 = cmd.content.nav_guided.horiz_max; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
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case MAV_CMD_NAV_GUIDED_ENABLE: // MAV ID: 92
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packet.param1 = cmd.p1; // on/off. >0.5 means "on", hand-over control to external controller
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break;
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#endif
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#ifdef MAV_CMD_NAV_VELOCITY
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case MAV_CMD_NAV_VELOCITY: // MAV ID: 91
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packet.param1 = cmd.p1; // frame - unused
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packet.x = cmd.content.nav_velocity.x; // lat (i.e. north) velocity in m/s
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packet.y = cmd.content.nav_velocity.y; // lon (i.e. east) velocity in m/s
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packet.z = cmd.content.nav_velocity.z; // vertical (i.e. up) velocity in m/s
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break;
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#endif
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case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
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packet.param1 = cmd.content.delay.seconds; // delay in seconds
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@ -898,6 +877,13 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
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packet.param2 = cmd.content.gripper.action; // action 0=release, 1=grab. See GRIPPER_ACTION enum
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break;
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case MAV_CMD_DO_GUIDED_LIMITS: // MAV ID: 222
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packet.param1 = cmd.p1; // max time in seconds the external controller will be allowed to control the vehicle
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packet.param2 = cmd.content.guided_limits.alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
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packet.param3 = cmd.content.guided_limits.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
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packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
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break;
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default:
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// unrecognised command
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return false;
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@ -43,21 +43,6 @@
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class AP_Mission {
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public:
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// nav guided command
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struct PACKED Nav_Guided_Command {
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float alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
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float alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
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float horiz_max; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
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};
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// nav velocity command
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struct PACKED Nav_Velocity_Command {
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float x; // lat (i.e. north) velocity in m/s
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float y; // lon (i.e. east) velocity in m/s
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float z; // vertical velocity in m/s
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};
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// jump command structure
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struct PACKED Jump_Command {
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uint16_t target; // target command id
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@ -127,13 +112,15 @@ public:
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uint8_t action; // action (0 = release, 1 = grab)
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};
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// nav guided command
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struct PACKED Guided_Limits_Command {
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// max time is held in p1 field
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float alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit
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float alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit
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float horiz_max; // max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit
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};
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union PACKED Content {
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// Nav_Guided_Command
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Nav_Guided_Command nav_guided;
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// Nav_Velocity_Command
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Nav_Velocity_Command nav_velocity;
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// jump structure
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Jump_Command jump;
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@ -167,6 +154,9 @@ public:
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// do-gripper
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Gripper_Command gripper;
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// do-guided-limits
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Guided_Limits_Command guided_limits;
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// location
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Location location; // Waypoint location
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