mirror of
https://github.com/ArduPilot/ardupilot
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Mission: command specific structures
This commit is contained in:
Randy Mackay
parent
865a4de33d
commit
c75560218d
@ -435,23 +435,23 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
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case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
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copy_location = true;
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cmd.p1 = packet.param1; // delay at waypoint in seconds
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cmd.p1 = packet.param1; // delay at waypoint in seconds
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
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copy_location = true;
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cmd.content.location.flags.loiter_ccw = (packet.param3 < 0);
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cmd.content.location.flags.loiter_ccw = (packet.param3 < 0); // -1 = counter clockwise, +1 = clockwise
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
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copy_location = true;
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cmd.p1 = packet.param1; // number of times to circle is held in location.p1
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cmd.p1 = packet.param1; // number of times to circle is held in location.p1
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cmd.content.location.flags.loiter_ccw = (packet.param3 < 0);
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break;
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case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
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copy_location = true;
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cmd.p1 = packet.param1; // loiter time in seconds
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cmd.p1 = packet.param1; // loiter time in seconds
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cmd.content.location.flags.loiter_ccw = (packet.param3 < 0);
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break;
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@ -469,27 +469,27 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
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break;
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case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
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cmd.content.location.lat = packet.param1; // delay in seconds
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cmd.content.delay.seconds = packet.param1; // delay in seconds
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break;
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case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
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copy_alt = true; // only altitude is used
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cmd.p1 = packet.param1; // climb/descent rate in m/s
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cmd.content.location.lat = packet.param1 * 100; // climb/descent converted from m/s to cm/s. To-Do: store in proper climb_rate structure
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break;
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case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
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cmd.content.location.lat = packet.param1; // distance in meters from next waypoint
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cmd.content.distance.meters = packet.param1; // distance in meters from next waypoint
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break;
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case MAV_CMD_CONDITION_YAW: // MAV ID: 115
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cmd.content.location.alt = packet.param1; // target angle in degrees
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cmd.content.location.lat = packet.param2; // lat=0: use default turn rate otherwise specific turn rate in deg/sec
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cmd.p1 = packet.param3; // -1 = ccw, +1 = cw
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cmd.content.location.lng = packet.param4; // lng=0: absolute angle provided, lng=1: relative angle provided
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cmd.content.yaw.angle_deg = packet.param1; // target angle in degrees
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cmd.content.yaw.turn_rate_dps = packet.param2; // 0 = use default turn rate otherwise specific turn rate in deg/sec
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cmd.content.yaw.direction = packet.param3; // -1 = ccw, +1 = cw
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cmd.content.yaw.relative_angle = packet.param4; // lng=0: absolute angle provided, lng=1: relative angle provided
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break;
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case MAV_CMD_DO_SET_MODE: // MAV ID: 176
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cmd.p1 = packet.param1; // set flight mode. To-Do: make mapping function from MAVLINK defined flight modes to AC/AP/AR flight modes
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cmd.p1 = packet.param1; // flight mode identifier
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break;
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case MAV_CMD_DO_JUMP: // MAV ID: 177
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@ -498,47 +498,47 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
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break;
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case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
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cmd.p1 = packet.param1; // 0 = airspeed, 1 = ground speed
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cmd.content.location.alt = packet.param2; // speed in m/s
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cmd.content.location.lat = packet.param3; // throttle as a percentage from 0 ~ 100%
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cmd.content.speed.speed_type = packet.param1; // 0 = airspeed, 1 = ground speed
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cmd.content.speed.target_ms = packet.param2; // target speed in m/s
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cmd.content.speed.throttle_pct = packet.param3; // throttle as a percentage from 0 ~ 100%
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break;
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case MAV_CMD_DO_SET_HOME:
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copy_location = true;
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cmd.p1 = packet.param1; // p1=0 means use current location, p=1 means use provided location
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cmd.p1 = packet.param1; // p1=0 means use current location, p=1 means use provided location
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break;
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case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
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cmd.p1 = packet.param1; // parameter number
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cmd.p1 = packet.param1; // parameter number
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cmd.content.location.alt = packet.param2; // parameter value
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break;
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case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
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cmd.p1 = packet.param1; // relay number
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cmd.content.location.alt = packet.param2; // 0:off, 1:on
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cmd.content.relay.num = packet.param1; // relay number
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cmd.content.relay.state = packet.param2; // 0:off, 1:on
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break;
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case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
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cmd.p1 = packet.param1; // relay number
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cmd.content.location.alt = packet.param2; // count
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cmd.content.location.lat = packet.param3*1000; // time
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cmd.content.relay.num = packet.param1; // relay number
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cmd.content.relay.repeat_count = packet.param2; // count
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cmd.content.relay.time_ms = packet.param3*1000; // time converted from seconds to milliseconds
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break;
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case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
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cmd.p1 = packet.param1; // channel
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cmd.content.location.alt = packet.param2; // PWM
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cmd.content.servo.channel = packet.param1; // channel
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cmd.content.servo.pwm = packet.param2; // PWM
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break;
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case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
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cmd.p1 = packet.param1; // channel
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cmd.content.location.alt = packet.param2; // PWM
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cmd.content.location.lat = packet.param3; // count
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cmd.content.location.lng = packet.param4*1000; // time in seconds converted to milliseconds
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cmd.content.servo.channel = packet.param1; // channel
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cmd.content.servo.pwm = packet.param2; // PWM
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cmd.content.servo.repeat_count = packet.param3; // count
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cmd.content.servo.time_ms = packet.param4*1000; // time in seconds converted to milliseconds
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break;
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case MAV_CMD_DO_SET_ROI: // MAV ID: 201
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copy_location = true;
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cmd.p1 = packet.param1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
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cmd.p1 = packet.param1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
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break;
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case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
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@ -547,7 +547,7 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
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break;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
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cmd.content.location.alt = packet.param1; // use alt so we can support 32 bit values
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cmd.content.cam_trigg_dist.meters = packet.param1; // distance between camera shots in meters
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break;
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default:
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@ -635,118 +635,118 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
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// command specific conversions from mission command to mavlink packet
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
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case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
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copy_location = true;
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packet.param1 = cmd.p1; // delay at waypoint in seconds
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packet.param1 = cmd.p1; // delay at waypoint in seconds
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
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case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
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copy_location = true;
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break;
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case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
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case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
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copy_location = true;
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packet.param1 = cmd.p1; // number of times to circle is held in location.p1
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packet.param1 = cmd.p1; // number of times to circle is held in location.p1
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break;
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case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
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case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
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copy_location = true;
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packet.param1 = cmd.p1; // loiter time in seconds
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packet.param1 = cmd.p1; // loiter time in seconds
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
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case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
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copy_location = true;
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break;
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case MAV_CMD_NAV_LAND: // MAV ID: 21
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case MAV_CMD_NAV_LAND: // MAV ID: 21
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copy_location = true;
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break;
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case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
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case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
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copy_location = true; // only altitude is used
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packet.param1 = cmd.p1; // minimum pitch (plane only)
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break;
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case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
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packet.param1 = cmd.content.location.lat; // delay in seconds
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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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break;
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case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
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case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
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copy_alt = true; // only altitude is used
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packet.param1 = cmd.p1/100; // climb/descent rate converted from m/s to cm/s
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packet.param1 = cmd.content.location.lat / 100.0f; // climb/descent rate converted from cm/s to m/s. To-Do: store in proper climb_rate structure
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break;
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case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
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packet.param1 = cmd.content.location.lat; // distance in meters from next waypoint
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case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
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packet.param1 = cmd.content.distance.meters; // distance in meters from next waypoint
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break;
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case MAV_CMD_CONDITION_YAW: // MAV ID: 115
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packet.param1 = cmd.content.location.alt; // target angle in degrees
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packet.param2 = cmd.content.location.lat; // lat=0: use default turn rate otherwise specific turn rate in deg/sec
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packet.param3 = cmd.p1; // -1 = ccw, +1 = cw
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packet.param4 = cmd.content.location.lng; // lng=0: absolute angle provided, lng=1: relative angle provided
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case MAV_CMD_CONDITION_YAW: // MAV ID: 115
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packet.param1 = cmd.content.yaw.angle_deg; // target angle in degrees
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packet.param2 = cmd.content.yaw.turn_rate_dps; // 0 = use default turn rate otherwise specific turn rate in deg/sec
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packet.param3 = cmd.content.yaw.direction; // -1 = ccw, +1 = cw
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packet.param4 = cmd.content.yaw.relative_angle; // 0 = absolute angle provided, 1 = relative angle provided
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break;
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case MAV_CMD_DO_SET_MODE: // MAV ID: 176
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packet.param1 = cmd.p1; // set flight mode. To-Do: make mapping function from MAVLINK defined flight modes to AC/AP/AR flight modes
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case MAV_CMD_DO_SET_MODE: // MAV ID: 176
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packet.param1 = cmd.p1; // set flight mode identifier
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break;
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case MAV_CMD_DO_JUMP: // MAV ID: 177
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case MAV_CMD_DO_JUMP: // MAV ID: 177
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packet.param1 = cmd.content.jump.target; // jump-to command number
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packet.param2 = cmd.content.jump.num_times; // repeat count
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break;
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case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
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packet.param1 = cmd.p1; // 0 = airspeed, 1 = ground speed
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packet.param2 = cmd.content.location.alt; // speed in m/s
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packet.param3 = cmd.content.location.lat; // throttle as a percentage from 0 ~ 100%
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case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
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packet.param1 = cmd.content.speed.speed_type; // 0 = airspeed, 1 = ground speed
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packet.param2 = cmd.content.speed.target_ms; // speed in m/s
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packet.param3 = cmd.content.speed.throttle_pct; // throttle as a percentage from 0 ~ 100%
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break;
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case MAV_CMD_DO_SET_HOME: // MAV ID: 179
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case MAV_CMD_DO_SET_HOME: // MAV ID: 179
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copy_location = true;
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packet.param1 = cmd.p1; // p1=0 means use current location, p=1 means use provided location
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packet.param1 = cmd.p1; // p1=0 means use current location, p=1 means use provided location
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break;
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case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
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packet.param1 = cmd.p1; // parameter number
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case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
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packet.param1 = cmd.p1; // parameter number
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packet.param2 = cmd.content.location.alt; // parameter value
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break;
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case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
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packet.param1 = cmd.p1; // relay number
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packet.param2 = cmd.content.location.alt; // 0:off, 1:on
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case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
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packet.param1 = cmd.content.relay.num; // relay number
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packet.param2 = cmd.content.relay.state; // 0:off, 1:on
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break;
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case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
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packet.param1 = cmd.p1; // relay number
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packet.param2 = cmd.content.location.alt; // count
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packet.param3 = cmd.content.location.lat*0.001f;// time
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case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
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packet.param1 = cmd.content.relay.num; // relay number
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packet.param2 = cmd.content.relay.repeat_count; // count
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packet.param3 = cmd.content.relay.time_ms*0.001f; // time converted from milliseconds to seconds
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break;
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case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
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packet.param1 = cmd.p1; // channel
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packet.param2 = cmd.content.location.alt; // PWM
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case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
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packet.param1 = cmd.content.servo.channel; // channel
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packet.param2 = cmd.content.servo.pwm; // PWM
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break;
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case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
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packet.param1 = cmd.p1; // channel
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packet.param2 = cmd.content.location.alt; // PWM
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packet.param3 = cmd.content.location.lat; // count
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packet.param4 = cmd.content.location.lng*0.001f;// time in seconds converted to milliseconds
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case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
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packet.param1 = cmd.content.servo.channel; // channel
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packet.param2 = cmd.content.servo.pwm; // PWM
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packet.param3 = cmd.content.servo.repeat_count; // count
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packet.param4 = cmd.content.servo.time_ms*0.001f; // time in milliseconds converted to seconds
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break;
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case MAV_CMD_DO_SET_ROI: // MAV ID: 201
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case MAV_CMD_DO_SET_ROI: // MAV ID: 201
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copy_location = true;
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packet.param1 = cmd.p1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
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packet.param1 = cmd.p1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
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break;
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case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
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case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
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case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
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case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
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// these commands takes no parameters
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break;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
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packet.param1 = cmd.content.location.alt; // use alt so we can support 32 bit values
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
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packet.param1 = cmd.content.cam_trigg_dist.meters; // distance between camera shots in meters
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break;
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default:
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@ -769,7 +769,7 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
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}
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}
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// if we got this far then it must have been succesful
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// if we got this far then it must have been successful
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return true;
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}
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@ -42,21 +42,88 @@ class AP_Mission {
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public:
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// jump command structure
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struct Jump_Command {
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uint16_t target; // DO_JUMP target command id
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int16_t num_times; // DO_JUMP num times to repeat. -1 = repeat forever
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struct PACKED Jump_Command {
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uint16_t target; // target command id
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int16_t num_times; // num times to repeat. -1 = repeat forever
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};
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union Content {
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// condition delay command structure
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struct PACKED Conditional_Delay_Command {
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uint16_t seconds; // period of delay in seconds
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};
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// condition delay command structure
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struct PACKED Conditional_Distance_Command {
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int32_t meters; // distance from next waypoint in meters
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};
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// condition yaw command structure
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struct PACKED Yaw_Command {
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int16_t angle_deg; // target angle in degrees (0=north, 90=east)
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int16_t turn_rate_dps; // turn rate in degrees / second (0=use default)
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int8_t direction; // -1 = ccw, +1 = cw
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uint8_t relative_angle;// 0 = absolute angle, 1 = relative angle
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};
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// change speed command structure
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struct PACKED Change_Speed_Command {
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uint8_t speed_type; // 0=airspeed, 1=ground speed
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float target_ms; // target speed in m/s
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uint8_t throttle_pct; // throttle as a percentage (i.e. 0 ~ 100)
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};
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// set relay and repeat relay command structure
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struct PACKED Set_Relay_Command {
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uint8_t num; // relay number from 1 to 4
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uint8_t state; // on = 3.3V or 5V (depending upon board), off = 0V. only used for do-set-relay, not for do-repeat-relay
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int16_t repeat_count; // number of times to trigger the relay
|
||||
uint32_t time_ms; // cycle time in milliseconds (the time between peaks or the time the relay is on and off for each cycle?)
|
||||
};
|
||||
|
||||
// set servo and repeat servo command structure
|
||||
struct PACKED Set_Servo_Command {
|
||||
uint8_t channel; // Note: p1 holds servo channel
|
||||
uint16_t pwm; // pwm value for servo
|
||||
int16_t repeat_count; // number of times to move the servo (returns to trim in between)
|
||||
uint16_t time_ms; // cycle time in milliseconds (the time between peaks or the time the servo is at the specified pwm value for each cycle?)
|
||||
};
|
||||
|
||||
// set cam trigger distance command structure
|
||||
struct PACKED Cam_Trigg_Distance {
|
||||
int32_t meters; // distance
|
||||
};
|
||||
|
||||
union PACKED Content {
|
||||
// jump structure
|
||||
Jump_Command jump;
|
||||
|
||||
// conditional delay
|
||||
Conditional_Delay_Command delay;
|
||||
|
||||
// conditional distance
|
||||
Conditional_Distance_Command distance;
|
||||
|
||||
// conditional yaw
|
||||
Yaw_Command yaw;
|
||||
|
||||
// change speed
|
||||
Change_Speed_Command speed;
|
||||
|
||||
// do-set-relay and do-repeat-relay
|
||||
Set_Relay_Command relay;
|
||||
|
||||
// do-set-servo and do-repeate-servo
|
||||
Set_Servo_Command servo;
|
||||
|
||||
// cam trigg distance
|
||||
Cam_Trigg_Distance cam_trigg_dist;
|
||||
|
||||
// location
|
||||
Location location; // Waypoint location
|
||||
};
|
||||
|
||||
// command structure
|
||||
struct Mission_Command {
|
||||
struct PACKED Mission_Command {
|
||||
uint16_t index; // this commands position in the command list
|
||||
uint8_t id; // mavlink command id
|
||||
uint8_t p1; // general purpose parameter 1
|
||||
|
||||
Loading…
Reference in New Issue
Block a user