mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
Rover: move methods in commands_logic.cpp to mode_auto.cpp
This commit is contained in:
cindyywang
Randy Mackay
parent
5286b6fab6
commit
d9805a9366
@ -9,411 +9,3 @@ void Rover::update_mission(void)
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}
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}
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}
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
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{
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// log when new commands start
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if (rover.should_log(MASK_LOG_CMD)) {
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rover.logger.Write_Mission_Cmd(mission, cmd);
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",
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cmd.type(), cmd.id);
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp(cmd, false);
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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_LOITER_UNLIM: // Loiter indefinitely
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case MAV_CMD_NAV_LOITER_TIME: // Loiter for specified time
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do_nav_wp(cmd, true);
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break;
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case MAV_CMD_NAV_GUIDED_ENABLE: // accept navigation commands from external nav computer
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do_nav_guided_enable(cmd);
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break;
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case MAV_CMD_NAV_SET_YAW_SPEED:
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do_nav_set_yaw_speed(cmd);
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break;
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// Conditional commands
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay(cmd);
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance(cmd);
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break;
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// Do commands
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed(cmd);
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home(cmd);
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break;
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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_DO_SET_ROI:
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if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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// switch off the camera tracking if enabled
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if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
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rover.camera_mount.set_mode_to_default();
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}
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} else {
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// send the command to the camera mount
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rover.camera_mount.set_roi_target(cmd.content.location);
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}
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break;
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#endif
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case MAV_CMD_DO_SET_REVERSE:
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do_set_reverse(cmd);
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break;
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case MAV_CMD_DO_FENCE_ENABLE:
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if (cmd.p1 == 0) { //disable
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g2.fence.enable(false);
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gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
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} else { //enable fence
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g2.fence.enable(true);
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gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
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}
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break;
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case MAV_CMD_DO_GUIDED_LIMITS:
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do_guided_limits(cmd);
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break;
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default:
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// return false for unhandled commands
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return false;
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}
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// if we got this far we must have been successful
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return true;
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}
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// exit_mission - callback function called from ap-mission when the mission has completed
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void ModeAuto::exit_mission()
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{
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// play a tone
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AP_Notify::events.mission_complete = 1;
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// send message
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gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
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if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && rover.set_mode(rover.mode_loiter, MODE_REASON_MISSION_END)) {
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return;
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}
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if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, MODE_REASON_MISSION_END)) {
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return;
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}
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rover.set_mode(rover.mode_hold, MODE_REASON_MISSION_END);
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}
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// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
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// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
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bool ModeAuto::verify_command_callback(const AP_Mission::Mission_Command& cmd)
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{
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const bool cmd_complete = verify_command(cmd);
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// send message to GCS
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if (cmd_complete) {
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gcs().send_mission_item_reached_message(cmd.index);
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}
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return cmd_complete;
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}
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/*******************************************************************************
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Verify command Handlers
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Each type of mission element has a "verify" operation. The verify
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operation returns true when the mission element has completed and we
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should move onto the next mission element.
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Return true if we do not recognize the command so that we move on to the next command
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*******************************************************************************/
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bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
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{
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp(cmd);
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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_LOITER_UNLIM:
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return verify_loiter_unlimited(cmd);
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case MAV_CMD_NAV_LOITER_TIME:
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return verify_loiter_time(cmd);
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case MAV_CMD_NAV_GUIDED_ENABLE:
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return verify_nav_guided_enable(cmd);
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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case MAV_CMD_NAV_SET_YAW_SPEED:
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return verify_nav_set_yaw_speed();
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// do commands (always return true)
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case MAV_CMD_DO_CHANGE_SPEED:
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case MAV_CMD_DO_SET_HOME:
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case MAV_CMD_DO_CONTROL_VIDEO:
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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case MAV_CMD_DO_SET_ROI:
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case MAV_CMD_DO_SET_REVERSE:
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case MAV_CMD_DO_FENCE_ENABLE:
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case MAV_CMD_DO_GUIDED_LIMITS:
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return true;
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default:
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// error message
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gcs().send_text(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
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// return true if we do not recognize the command so that we move on to the next command
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return true;
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}
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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void ModeAuto::do_RTL(void)
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{
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// start rtl in auto mode
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start_RTL();
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}
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void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
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{
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// just starting so we haven't previously reached the waypoint
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previously_reached_wp = false;
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// this will be used to remember the time in millis after we reach or pass the WP.
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loiter_start_time = 0;
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// this is the delay, stored in seconds
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loiter_duration = cmd.p1;
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// get heading to following waypoint (auto mode reduces speed to allow corning without large overshoot)
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// in case of non-zero loiter duration, we provide heading-unknown to signal we should stop at the point
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float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN;
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if (!always_stop_at_destination && loiter_duration == 0) {
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next_leg_bearing_cd = mission.get_next_ground_course_cd(MODE_NEXT_HEADING_UNKNOWN);
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}
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// retrieve and sanitize target location
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Location cmdloc = cmd.content.location;
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location_sanitize(rover.current_loc, cmdloc);
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set_desired_location(cmdloc, next_leg_bearing_cd);
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}
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// start guided within auto to allow external navigation system to control vehicle
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void ModeAuto::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.p1 > 0) {
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start_guided(cmd.content.location);
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}
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}
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// do_set_yaw_speed - turn to a specified heading and achieve and given speed
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void ModeAuto::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
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{
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float desired_heading_cd;
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// get final angle, 1 = Relative, 0 = Absolute
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if (cmd.content.set_yaw_speed.relative_angle > 0) {
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// relative angle
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desired_heading_cd = wrap_180_cd(ahrs.yaw_sensor + cmd.content.set_yaw_speed.angle_deg * 100.0f);
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} else {
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// absolute angle
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desired_heading_cd = cmd.content.set_yaw_speed.angle_deg * 100.0f;
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}
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// set auto target
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const float speed_max = get_speed_default();
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set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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// exit immediately if we haven't reached the destination
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if (!reached_destination()) {
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return false;
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}
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// Check if this is the first time we have noticed reaching the waypoint
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if (!previously_reached_wp) {
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previously_reached_wp = true;
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// check if we are loitering at this waypoint - the message sent to the GCS is different
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if (loiter_duration > 0) {
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// send message including loiter time
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gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds",
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static_cast<uint32_t>(cmd.index),
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static_cast<uint32_t>(loiter_duration));
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// record the current time i.e. start timer
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loiter_start_time = millis();
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} else {
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// send simpler message to GCS
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gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u", static_cast<uint32_t>(cmd.index));
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}
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}
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// Check if we have loitered long enough
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if (loiter_duration == 0) {
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return true;
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} else {
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return (((millis() - loiter_start_time) / 1000) >= loiter_duration);
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}
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}
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bool ModeAuto::verify_RTL()
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{
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return reached_destination();
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}
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bool ModeAuto::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
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{
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verify_nav_wp(cmd);
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return false;
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}
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// verify_loiter_time - check if we have loitered long enough
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bool ModeAuto::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
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{
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const bool result = verify_nav_wp(cmd);
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if (result) {
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gcs().send_text(MAV_SEVERITY_WARNING, "Finished active loiter");
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}
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return result;
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}
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// check if guided has completed
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bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
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{
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// if we failed to enter guided or this command disables guided
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// return true so we move to next command
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if (_submode != Auto_Guided || cmd.p1 == 0) {
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return true;
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}
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// if a location target was set, return true once vehicle is close
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if (guided_target.valid) {
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if (rover.current_loc.get_distance(guided_target.loc) <= rover.g.waypoint_radius) {
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return true;
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}
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}
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// guided command complete once a limit is breached
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return rover.mode_guided.limit_breached();
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}
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// verify_yaw - return true if we have reached the desired heading
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bool ModeAuto::verify_nav_set_yaw_speed()
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{
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return reached_heading();
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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void ModeAuto::do_wait_delay(const AP_Mission::Mission_Command& cmd)
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{
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condition_start = millis();
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condition_value = static_cast<int32_t>(cmd.content.delay.seconds * 1000); // convert seconds to milliseconds
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}
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void ModeAuto::do_within_distance(const AP_Mission::Mission_Command& cmd)
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{
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condition_value = cmd.content.distance.meters;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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bool ModeAuto::verify_wait_delay()
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{
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if (static_cast<uint32_t>(millis() - condition_start) > static_cast<uint32_t>(condition_value)) {
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condition_value = 0;
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return true;
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}
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return false;
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}
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bool ModeAuto::verify_within_distance()
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{
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if (get_distance_to_destination() < condition_value) {
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condition_value = 0;
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return true;
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}
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return false;
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
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{
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// set speed for active mode
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if (set_desired_speed(cmd.content.speed.target_ms)) {
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gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms));
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}
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}
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void ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.p1 == 1 && rover.have_position) {
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if (!rover.set_home_to_current_location(false)) {
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// ignored...
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}
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} else {
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if (!rover.set_home(cmd.content.location, false)) {
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// ignored...
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}
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}
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}
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void ModeAuto::do_set_reverse(const AP_Mission::Mission_Command& cmd)
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{
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set_reversed(cmd.p1 == 1);
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}
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// set timeout and position limits for guided within auto
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void ModeAuto::do_guided_limits(const AP_Mission::Mission_Command& cmd)
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{
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rover.mode_guided.limit_set(
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cmd.p1 * 1000, // convert seconds to ms
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cmd.content.guided_limits.horiz_max);
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}
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@ -281,3 +281,410 @@ void ModeAuto::send_guided_position_target()
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}
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}
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
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{
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// log when new commands start
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if (rover.should_log(MASK_LOG_CMD)) {
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rover.logger.Write_Mission_Cmd(mission, cmd);
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}
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gcs().send_text(MAV_SEVERITY_INFO, "Executing %s(ID=%i)",
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cmd.type(), cmd.id);
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switch (cmd.id) {
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp(cmd, false);
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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_LOITER_UNLIM: // Loiter indefinitely
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case MAV_CMD_NAV_LOITER_TIME: // Loiter for specified time
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do_nav_wp(cmd, true);
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break;
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case MAV_CMD_NAV_GUIDED_ENABLE: // accept navigation commands from external nav computer
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do_nav_guided_enable(cmd);
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break;
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case MAV_CMD_NAV_SET_YAW_SPEED:
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do_nav_set_yaw_speed(cmd);
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break;
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// Conditional commands
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay(cmd);
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance(cmd);
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break;
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// Do commands
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed(cmd);
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home(cmd);
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break;
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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_DO_SET_ROI:
|
||||
if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
|
||||
// switch off the camera tracking if enabled
|
||||
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
|
||||
rover.camera_mount.set_mode_to_default();
|
||||
}
|
||||
} else {
|
||||
// send the command to the camera mount
|
||||
rover.camera_mount.set_roi_target(cmd.content.location);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
|
||||
case MAV_CMD_DO_SET_REVERSE:
|
||||
do_set_reverse(cmd);
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_FENCE_ENABLE:
|
||||
if (cmd.p1 == 0) { //disable
|
||||
g2.fence.enable(false);
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Fence Disabled");
|
||||
} else { //enable fence
|
||||
g2.fence.enable(true);
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Fence Enabled");
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_CMD_DO_GUIDED_LIMITS:
|
||||
do_guided_limits(cmd);
|
||||
break;
|
||||
|
||||
default:
|
||||
// return false for unhandled commands
|
||||
return false;
|
||||
}
|
||||
|
||||
// if we got this far we must have been successful
|
||||
return true;
|
||||
}
|
||||
|
||||
// exit_mission - callback function called from ap-mission when the mission has completed
|
||||
void ModeAuto::exit_mission()
|
||||
{
|
||||
// play a tone
|
||||
AP_Notify::events.mission_complete = 1;
|
||||
// send message
|
||||
gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
|
||||
|
||||
if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && rover.set_mode(rover.mode_loiter, MODE_REASON_MISSION_END)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, MODE_REASON_MISSION_END)) {
|
||||
return;
|
||||
}
|
||||
|
||||
rover.set_mode(rover.mode_hold, MODE_REASON_MISSION_END);
|
||||
}
|
||||
|
||||
// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
|
||||
// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
|
||||
bool ModeAuto::verify_command_callback(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
const bool cmd_complete = verify_command(cmd);
|
||||
|
||||
// send message to GCS
|
||||
if (cmd_complete) {
|
||||
gcs().send_mission_item_reached_message(cmd.index);
|
||||
}
|
||||
|
||||
return cmd_complete;
|
||||
}
|
||||
|
||||
/*******************************************************************************
|
||||
Verify command Handlers
|
||||
|
||||
Each type of mission element has a "verify" operation. The verify
|
||||
operation returns true when the mission element has completed and we
|
||||
should move onto the next mission element.
|
||||
Return true if we do not recognize the command so that we move on to the next command
|
||||
*******************************************************************************/
|
||||
|
||||
bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
switch (cmd.id) {
|
||||
case MAV_CMD_NAV_WAYPOINT:
|
||||
return verify_nav_wp(cmd);
|
||||
|
||||
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
||||
return verify_RTL();
|
||||
|
||||
case MAV_CMD_NAV_LOITER_UNLIM:
|
||||
return verify_loiter_unlimited(cmd);
|
||||
|
||||
case MAV_CMD_NAV_LOITER_TIME:
|
||||
return verify_loiter_time(cmd);
|
||||
|
||||
case MAV_CMD_NAV_GUIDED_ENABLE:
|
||||
return verify_nav_guided_enable(cmd);
|
||||
|
||||
case MAV_CMD_CONDITION_DELAY:
|
||||
return verify_wait_delay();
|
||||
|
||||
case MAV_CMD_CONDITION_DISTANCE:
|
||||
return verify_within_distance();
|
||||
|
||||
case MAV_CMD_NAV_SET_YAW_SPEED:
|
||||
return verify_nav_set_yaw_speed();
|
||||
|
||||
// do commands (always return true)
|
||||
case MAV_CMD_DO_CHANGE_SPEED:
|
||||
case MAV_CMD_DO_SET_HOME:
|
||||
case MAV_CMD_DO_CONTROL_VIDEO:
|
||||
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
|
||||
case MAV_CMD_DO_SET_ROI:
|
||||
case MAV_CMD_DO_SET_REVERSE:
|
||||
case MAV_CMD_DO_FENCE_ENABLE:
|
||||
case MAV_CMD_DO_GUIDED_LIMITS:
|
||||
return true;
|
||||
|
||||
default:
|
||||
// error message
|
||||
gcs().send_text(MAV_SEVERITY_WARNING, "Skipping invalid cmd #%i", cmd.id);
|
||||
// return true if we do not recognize the command so that we move on to the next command
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
/********************************************************************************/
|
||||
// Nav (Must) commands
|
||||
/********************************************************************************/
|
||||
|
||||
void ModeAuto::do_RTL(void)
|
||||
{
|
||||
// start rtl in auto mode
|
||||
start_RTL();
|
||||
}
|
||||
|
||||
void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd, bool always_stop_at_destination)
|
||||
{
|
||||
// just starting so we haven't previously reached the waypoint
|
||||
previously_reached_wp = false;
|
||||
|
||||
// this will be used to remember the time in millis after we reach or pass the WP.
|
||||
loiter_start_time = 0;
|
||||
|
||||
// this is the delay, stored in seconds
|
||||
loiter_duration = cmd.p1;
|
||||
|
||||
// get heading to following waypoint (auto mode reduces speed to allow corning without large overshoot)
|
||||
// in case of non-zero loiter duration, we provide heading-unknown to signal we should stop at the point
|
||||
float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN;
|
||||
if (!always_stop_at_destination && loiter_duration == 0) {
|
||||
next_leg_bearing_cd = mission.get_next_ground_course_cd(MODE_NEXT_HEADING_UNKNOWN);
|
||||
}
|
||||
|
||||
// retrieve and sanitize target location
|
||||
Location cmdloc = cmd.content.location;
|
||||
location_sanitize(rover.current_loc, cmdloc);
|
||||
set_desired_location(cmdloc, next_leg_bearing_cd);
|
||||
}
|
||||
|
||||
// start guided within auto to allow external navigation system to control vehicle
|
||||
void ModeAuto::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
if (cmd.p1 > 0) {
|
||||
start_guided(cmd.content.location);
|
||||
}
|
||||
}
|
||||
|
||||
// do_set_yaw_speed - turn to a specified heading and achieve and given speed
|
||||
void ModeAuto::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
float desired_heading_cd;
|
||||
|
||||
// get final angle, 1 = Relative, 0 = Absolute
|
||||
if (cmd.content.set_yaw_speed.relative_angle > 0) {
|
||||
// relative angle
|
||||
desired_heading_cd = wrap_180_cd(ahrs.yaw_sensor + cmd.content.set_yaw_speed.angle_deg * 100.0f);
|
||||
} else {
|
||||
// absolute angle
|
||||
desired_heading_cd = cmd.content.set_yaw_speed.angle_deg * 100.0f;
|
||||
}
|
||||
|
||||
// set auto target
|
||||
const float speed_max = get_speed_default();
|
||||
set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
|
||||
}
|
||||
|
||||
/********************************************************************************/
|
||||
// Verify Nav (Must) commands
|
||||
/********************************************************************************/
|
||||
bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
// exit immediately if we haven't reached the destination
|
||||
if (!reached_destination()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Check if this is the first time we have noticed reaching the waypoint
|
||||
if (!previously_reached_wp) {
|
||||
previously_reached_wp = true;
|
||||
|
||||
// check if we are loitering at this waypoint - the message sent to the GCS is different
|
||||
if (loiter_duration > 0) {
|
||||
// send message including loiter time
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u. Loiter for %u seconds",
|
||||
static_cast<uint32_t>(cmd.index),
|
||||
static_cast<uint32_t>(loiter_duration));
|
||||
// record the current time i.e. start timer
|
||||
loiter_start_time = millis();
|
||||
} else {
|
||||
// send simpler message to GCS
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "Reached waypoint #%u", static_cast<uint32_t>(cmd.index));
|
||||
}
|
||||
}
|
||||
|
||||
// Check if we have loitered long enough
|
||||
if (loiter_duration == 0) {
|
||||
return true;
|
||||
} else {
|
||||
return (((millis() - loiter_start_time) / 1000) >= loiter_duration);
|
||||
}
|
||||
}
|
||||
|
||||
bool ModeAuto::verify_RTL()
|
||||
{
|
||||
return reached_destination();
|
||||
}
|
||||
|
||||
bool ModeAuto::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
verify_nav_wp(cmd);
|
||||
return false;
|
||||
}
|
||||
|
||||
// verify_loiter_time - check if we have loitered long enough
|
||||
bool ModeAuto::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
const bool result = verify_nav_wp(cmd);
|
||||
if (result) {
|
||||
gcs().send_text(MAV_SEVERITY_WARNING, "Finished active loiter");
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
// check if guided has completed
|
||||
bool ModeAuto::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
// if we failed to enter guided or this command disables guided
|
||||
// return true so we move to next command
|
||||
if (_submode != Auto_Guided || cmd.p1 == 0) {
|
||||
return true;
|
||||
}
|
||||
|
||||
// if a location target was set, return true once vehicle is close
|
||||
if (guided_target.valid) {
|
||||
if (rover.current_loc.get_distance(guided_target.loc) <= rover.g.waypoint_radius) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
// guided command complete once a limit is breached
|
||||
return rover.mode_guided.limit_breached();
|
||||
}
|
||||
|
||||
// verify_yaw - return true if we have reached the desired heading
|
||||
bool ModeAuto::verify_nav_set_yaw_speed()
|
||||
{
|
||||
return reached_heading();
|
||||
}
|
||||
|
||||
/********************************************************************************/
|
||||
// Condition (May) commands
|
||||
/********************************************************************************/
|
||||
|
||||
void ModeAuto::do_wait_delay(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
condition_start = millis();
|
||||
condition_value = static_cast<int32_t>(cmd.content.delay.seconds * 1000); // convert seconds to milliseconds
|
||||
}
|
||||
|
||||
void ModeAuto::do_within_distance(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
condition_value = cmd.content.distance.meters;
|
||||
}
|
||||
|
||||
/********************************************************************************/
|
||||
// Verify Condition (May) commands
|
||||
/********************************************************************************/
|
||||
|
||||
bool ModeAuto::verify_wait_delay()
|
||||
{
|
||||
if (static_cast<uint32_t>(millis() - condition_start) > static_cast<uint32_t>(condition_value)) {
|
||||
condition_value = 0;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool ModeAuto::verify_within_distance()
|
||||
{
|
||||
if (get_distance_to_destination() < condition_value) {
|
||||
condition_value = 0;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/********************************************************************************/
|
||||
// Do (Now) commands
|
||||
/********************************************************************************/
|
||||
|
||||
void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
// set speed for active mode
|
||||
if (set_desired_speed(cmd.content.speed.target_ms)) {
|
||||
gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms));
|
||||
}
|
||||
}
|
||||
|
||||
void ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
if (cmd.p1 == 1 && rover.have_position) {
|
||||
if (!rover.set_home_to_current_location(false)) {
|
||||
// ignored...
|
||||
}
|
||||
} else {
|
||||
if (!rover.set_home(cmd.content.location, false)) {
|
||||
// ignored...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ModeAuto::do_set_reverse(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
set_reversed(cmd.p1 == 1);
|
||||
}
|
||||
|
||||
// set timeout and position limits for guided within auto
|
||||
void ModeAuto::do_guided_limits(const AP_Mission::Mission_Command& cmd)
|
||||
{
|
||||
rover.mode_guided.limit_set(
|
||||
cmd.p1 * 1000, // convert seconds to ms
|
||||
cmd.content.guided_limits.horiz_max);
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user