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Copter: integrate AP_Mission_ChangeDetector

This commit is contained in:
Randy Mackay 2022-01-08 10:25:10 +09:00
parent c0855a0d1e
commit d5461f2225
3 changed files with 8 additions and 62 deletions
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1
ArduCopter/Copter.h
View File

@ -41,6 +41,7 @@
#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS/AP_AHRS.h> // AHRS (Attitude Heading Reference System) interface library for ArduPilot
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AP_Mission/AP_Mission_ChangeDetector.h> // Mission command change detection library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h> // 6DoF Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Heli.h> // Attitude control library for traditional helicopter

12
ArduCopter/mode.h
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@ -441,6 +441,9 @@ public:
FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&ModeAuto::exit_mission, void)};
// Mission change detector
AP_Mission_ChangeDetector mis_change_detector;
protected:
const char *name() const override { return auto_RTL? "AUTO RTL" : "AUTO"; }
@ -575,15 +578,6 @@ private:
bool waiting_to_start; // true if waiting for vehicle to be armed or EKF origin before starting mission
// variables to detect mission changes
static const uint8_t mis_change_detect_cmd_max = 3;
struct {
uint32_t last_change_time_ms; // local copy of last time mission was changed
uint16_t curr_cmd_index; // local copy of AP_Mission's current command index
uint8_t cmd_count; // number of commands in the cmd array
AP_Mission::Mission_Command cmd[mis_change_detect_cmd_max]; // local copy of the next few mission commands
} mis_change_detect = {};
// True if we have entered AUTO to perform a DO_LAND_START landing sequence and we should report as AUTO RTL mode
bool auto_RTL;
};

57
ArduCopter/mode_auto.cpp
View File

@ -45,7 +45,7 @@ bool ModeAuto::init(bool ignore_checks)
waiting_to_start = true;
// initialise mission change check (ignore results)
check_for_mission_change();
IGNORE_RETURN(mis_change_detector.check_for_mission_change());
// clear guided limits
copter.mode_guided.limit_clear();
@ -91,13 +91,13 @@ void ModeAuto::run()
waiting_to_start = false;
// initialise mission change check (ignore results)
check_for_mission_change();
IGNORE_RETURN(mis_change_detector.check_for_mission_change());
}
} else {
// check for mission changes
if (check_for_mission_change()) {
if (mis_change_detector.check_for_mission_change()) {
// if mission is running restart the current command if it is a waypoint or spline command
if ((copter.mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) && (_mode == SubMode::WP)) {
if ((mission.state() == AP_Mission::MISSION_RUNNING) && (_mode == SubMode::WP)) {
if (mission.restart_current_nav_cmd()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto mission changed, restarted command");
} else {
@ -606,55 +606,6 @@ void ModeAuto::exit_mission()
}
}
// detect external changes to mission
bool ModeAuto::check_for_mission_change()
{
// check if mission has been updated
const uint32_t change_time_ms = mission.last_change_time_ms();
const bool update_time_changed = (change_time_ms != mis_change_detect.last_change_time_ms);;
// check if active command index has changed
const uint16_t curr_cmd_idx = mission.get_current_nav_index();
const bool curr_cmd_idx_changed = (curr_cmd_idx != mis_change_detect.curr_cmd_index);
// no changes if neither mission update time nor active command index has changed
if (!update_time_changed && !curr_cmd_idx_changed) {
return false;
}
// the mission has been updated (but maybe not changed) and/or the current command index has changed
// check the contents of the next three commands to ensure they have not changed
// and update storage so we can detect future changes
bool cmds_changed = false; // true if upcoming command contents have changed
// retrieve cmds from mission and compare with mis_change_detect
uint8_t num_cmds = 0;
uint16_t cmd_idx = curr_cmd_idx;
AP_Mission::Mission_Command cmd[mis_change_detect_cmd_max];
while ((num_cmds < ARRAY_SIZE(cmd)) && mission.get_next_nav_cmd(cmd_idx, cmd[num_cmds])) {
num_cmds++;
if ((num_cmds > mis_change_detect.cmd_count) || (cmd[num_cmds-1] != mis_change_detect.cmd[num_cmds-1])) {
cmds_changed = true;
mis_change_detect.cmd[num_cmds-1] = cmd[num_cmds-1];
}
cmd_idx = cmd[num_cmds-1].index+1;
}
// mission has changed if number of upcoming commands does not match mis_change_detect
if (num_cmds != mis_change_detect.cmd_count) {
cmds_changed = true;
}
// update mis_change_detect with last change time, command index and number of commands
mis_change_detect.last_change_time_ms = change_time_ms;
mis_change_detect.curr_cmd_index = curr_cmd_idx;
mis_change_detect.cmd_count = num_cmds;
// mission has changed if upcoming command contents have changed without the current command index changing
return cmds_changed && !curr_cmd_idx_changed;
}
// do_guided - start guided mode
bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
{