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Commit Graph

190 Commits

Author SHA1 Message Date
Michael du Breuil 670eaf8782 AP_Mission: Accept and store landing aborts in the mission 2018-12-15 09:03:25 +11:00
Peter Barker a9b94ae13d AP_Mission: use ahrs singleton 2018-11-08 10:01:16 +09:00
Peter Barker 1e39c17908 AP_Mission: return true if cmd-do was handled, false otherwise 2018-10-30 15:37:18 +11:00
Peter Barker b1b5a7868d AP_Mission: handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker 51d4b2da34 AP_Mission: move servorelayevents handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker 182d3634aa AP_Mission: handle gripper mission items 2018-10-30 15:37:18 +11:00
Peter Barker 8ebec6a237 AP_Mission: create start_command and verify_command wrappers 2018-10-30 15:37:18 +11:00
Michael du Breuil 7db5daadad AP_Mission: If a command fails to start immediately cycle to the next 2018-09-11 06:42:00 +10:00
Peter Barker 16b49399db AP_Mission: add singleton 2018-09-04 10:32:26 +10:00
Michael du Breuil e878558d41 AP_Mission: Reduce the number of places _set_cmd is called from 2018-08-28 10:01:36 +10:00
Andrew Tridgell 0289ad03df AP_Mission: added semaphore for thread access 2018-08-25 15:44:36 +10:00
Peter Barker 32bc1860de AP_Mission: starts_with_takeoff_cmd skips past mav_cmd_nav_delay 2018-08-20 14:15:40 +09:00
Peter Barker 9af11d79d1 AP_Mission: remove pointless else clauses 2018-08-20 14:15:40 +09:00
Francisco Ferreira 930981914a
AP_Mission: fix small bug in d5a4c6b 2018-04-26 23:21:29 +01:00
Michael du Breuil d5a4c6b5bc AP_Mission: Sanity check for NaN's and infinities 2018-04-26 14:48:14 -07:00
Peter Barker 30355fa6d8 AP_Mission: provide short description for mission item types 2017-11-27 10:28:24 +09:00
Randy Mackay 8b4345f29d AP_Mission: add winch support 2017-10-27 09:20:38 +09:00
Michael du Breuil a0a16b8369 AP_Mission: Load yaw heading for landing commands 2017-10-17 14:37:11 -07:00
Michael du Breuil dbf67aa38a AP_Mission: Remove duplicated code associated with copy the waypoint location 2017-10-16 10:02:33 -07:00
ChrisBird 46c982d64f AP_Mission: add OPTIONS parameter 
First option added now is to clear the mission on reboot
Fixes #5743
 2017-08-29 21:28:19 +01:00
Michael du Breuil db6d8c9c43 AP_Mission: Use a static assert to check content size 2017-08-29 14:37:56 +01:00
Randy Mackay 638ba02d5f AP_Mission: add support for Set-Yaw-Speed command 
This is initially only intended for use by Rover
 2017-08-05 11:20:58 +09:00
Peter Barker eab60e6163 AP_Mission: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Michael du Breuil 7e5aa5bc4c AP_Mission: Prohibit resuming mission waypoints that are no longer in the mission 2017-05-24 10:19:56 -07:00
Peter Barker 591bb32496 AP_Mission: correct off-by-one check when fetching mission items 2017-01-21 15:30:11 +09:00
Tom Pittenger a81f5cefbe AP_Mission: don't wrap when masking via HIGH/LOWBYTE 2017-01-06 17:35:44 -08:00
Eugene Shamaev dc3d10a28b AP_Mission: waypoint command parsing 2017-01-06 17:35:44 -08:00
Peter Barker 6fd771afc9 AP_Mission: starts_with_takeoff uses get_next_nav_cmd 2016-12-24 11:49:35 +09:00
Michael du Breuil f9acca67d3 AP_Mission: Align with spec better 
Location is out of spec for NAV_RETURN_TO_LAUNCH

NAV_LOITER_UNLIM couldn't roundtrip the provided loiter radius
 2016-12-05 17:31:36 -08:00
Peter Barker 20b83861e9 AP_Mission: support for NAV_CMD_PLACE 
AP_Mission: check return values of mission fetches
 2016-12-02 12:52:50 +11:00
Tom Pittenger 40777e9e74 AP_Mission: move jump_to_landing_sequence() to AP_Mission 2016-11-25 19:07:30 -08:00
Peter Barker 9d0d451c48 AP_Mission: add missing parameter metadata 2016-10-27 09:15:03 -07:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 37f71bc6d6 AP_Mission: support DO_ENGINE_CONTROL 2016-07-25 10:06:03 +10:00
Grant Morphett 4e8666cee9 AP_Mission: Adding new MAV_CMD_DO_SET_REVERSE for Rovers. 
Rover now supports reverse via this MAV_CMD.
 2016-07-17 08:15:33 +10:00
Tom Pittenger 41c9cace68 AP_Mission: mavlink parsing should use check_lat/lng functions 2016-06-06 13:08:37 -07:00
Michael du Breuil fb07b8c4cc Mission: fix bounds checking of MISSION_ITEM lat/lon 2016-06-06 10:08:45 -07:00
Randy Mackay 54731a139f AP_Mission: rename starts_with_takeoff_cmd 2016-05-19 19:43:22 +09:00
Niti Rohilla 9ec0000691 AP_Mission: add check_takeoff_cmd 
This checks that the first command in the mission is a takeoff command which helps avoid mission setup errors in which users forget to start a mission with a takeoff command
 2016-05-19 19:43:17 +09:00
Niti Rohilla d771017c25 AP_Mission: support MAV_CMD_NAV_DELAY command 2016-05-19 16:16:02 +09:00
Tom Pittenger 9073ac91ff AP_Mission: 2of3 add loiter_xtrack option flag for post-loiter navigation via param4 
0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
 2016-05-16 11:50:54 -07:00
Tom Pittenger f1186b8b5c AP_Mission: store previous nav cmd id 2016-05-13 17:22:03 -07:00
Ricardo de Almeida Gonzaga dfe38b61de AP_Mission: Fix typos 2016-05-13 19:20:06 -03:00
Michael Day 62a7074dd7 AP_Mission: Added mavlink_cmd_long_to_mission_cmd method. 2016-05-06 11:59:44 -07:00
Michael Oborne fb3fc118f1 AP_Mission: support MAVLINK_MSG_ID_MISSION_ITEM_INT 2016-05-01 07:13:23 +10:00
Michael du Breuil fff21a1db9 Mission: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:09 +09:00
Michael du Breuil 831ae72908 AP_Mission: Remove DO_SET_PARAMETER 2016-04-25 09:59:59 +09:00
Andrew Tridgell 3a5e4c80ca AP_Mission: support DO_VTOL_TRANSITION command 
first 16 bit command ID
 2016-04-23 21:03:46 +10:00
Andrew Tridgell 09c3c36c00 AP_Mission: allow for 16 bit command IDs 
this uses command ID 0 to allow for 16 bit command IDs. When used it
limits the content to just 10 bytes.
 2016-04-23 21:03:45 +10:00
Tom Pittenger 1c513a99a0 AP_Mission: removed LOITER_TO_ALT heading requirement param field 
- and increased loiter radius max size (8bit to 16bit), it will soon always have heading requirement along with all loiter cmds
 2016-03-02 08:48:24 -08:00
Tom Pittenger 068374658c AP_Mission: utilize radius for loiter commands 2016-02-29 06:43:19 -08:00
Andrew Tridgell ad59cb9f5c AP_Mission: support VTOL_TAKEOFF and VTOL_LAND 2016-01-09 07:38:53 +11:00
DonLakeFlyer 7cd3d8bfdc AP_Mission: better mission errors 2015-12-21 16:02:23 +11:00
Caio Marcelo de Oliveira Filho f20a4e413c AP_Mission: use millis/micros/panic functions 2015-11-20 12:32:03 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Randy Mackay 756d564b7c Mission: sanity check command altitudes 2015-10-19 16:15:08 +09:00
Tom Pittenger cb20325593 AP_Mission: added flight stage FLIGHT_LAND_ABORT 
- add get_prev_nav_cmd_with_wp_index(). This is different than get_prev_nav_cmd_index() in that it only stores the index if there is a valid lat/lng (+1 squashed commits)
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 50m
 2015-09-09 09:04:24 +10:00
Tom Pittenger 1026e7df45 AP_Mission: updated comment 
altitude and lat/lng are all used
 2015-09-08 17:05:54 +10:00
Tom Pittenger 15b242832e AP_Mission: lat/lng == 0 bug fix 
was using wrong logic to check for lat/lng == 0
 2015-08-29 21:17:35 +10:00
Tom Pittenger 41508457e1 AP_Mission: add get_prev_nav_cmd_with_wp_index() 
This is different than get_prev_nav_cmd_index() in that it only stores the index if there is a valid lat/lng
 2015-08-29 21:17:35 +10:00
Randy Mackay 1271e531e2 Mission: sanity check location 2015-08-27 15:15:56 +09:00
Michael Day a5e1d8e902 AP_Mission: Give CONINTUE_AND_CHANGE_ALT a parameter: climb/descend 
Param 1 denotes which direction the user expects the plane to
travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
 2015-08-20 11:37:17 +10:00
Gustavo Jose de Sousa 34d1a29ec1 AP_Mission: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:19 +10:00
Randy Mackay 766ccea3be Mission: fix bug causing first do-cmd to be run many times 
The symptom was that if the very first command in the mission was a
do-command, it would be run after every nav-command that didn't have
another do-command before it.
 2015-07-17 12:15:08 +09:00
Randy Mackay 429346f4bc AP_Mission: add missing breaks to case statement 2015-07-17 12:15:06 +09:00
Tom Pittenger e6122d1a4e AP_Mission: ensure cache coherence on mission resume 
- when resuming a mission we should read the value from storage of the same index to ensure we're not continuing an old cached version of the mission item.
- inherent problem: DO commands will continue and will be unaffected unless the new mission has a different DO_ command structure. If so, a set_current_cmd() or reset() should be issued by the GCS.
 2015-06-25 10:21:06 +10:00
Andrew Tridgell 9bd8e215b2 AP_Mission: enable DO_AUTOTUNE_ENABLE 2015-06-15 09:20:54 +10:00
Andrew Tridgell 08acde2766 AP_Mission: added ALTITUDE_WAIT NAV command 
used for HAB launch
 2015-06-15 09:20:54 +10:00
Randy Mackay 9c28d61a5c Mission: protect against endless loops of do-commands 2015-06-01 18:11:54 +09:00
Tom Pittenger 79605de8f5 AP_Mission: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Michael Day 3d3267d472 AP_Mission: Now support mission item MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Randy Mackay 87e6452ee9 Mission: bug fix when jump target is zero 
This would result in copter flying to a waypoint high above home
 2015-04-21 20:42:49 +09:00
Randy Mackay 888c2289ce Mission: support do-digicam-control parameters 2015-04-20 13:50:01 +09:00
Randy Mackay f6021010c5 Mission: support do-mount-control 2015-03-21 21:52:19 +09:00
Andrew Tridgell 3d433d2106 AP_Mission: loop check is only needed in one place 2015-01-23 13:48:45 +11:00
Andrew Tridgell 540cadc086 AP_Mission: prevent infinite loop with linked jump commands 
this prevents a "jump loop" from causing a firmware lockup. Thanks to
dellarb for reporting this!
 2015-01-23 13:14:27 +11:00
Andrew Tridgell ede920f293 AP_Mission: ensure location options are zero at start of mavlink conversion 2014-12-03 18:29:43 +11:00
Michael Day b3e693daa4 AP_Mission: Support MAV_CMD_DO_FENCE_ENABLE as a mission item. 2014-11-25 13:02:47 +11:00
Michael Day b36c1b2c3d AP_Mission: support for MAV_CMD_CONTINUE_AND_CHANGE_ALT 2014-11-25 10:43:15 +11:00
Michael Day 83c2f497a3 AP_Mission: Change jump_to_landing_sequence to get_landing_sequence_start 2014-10-24 21:42:06 +11:00
Andrew Tridgell 15a661e17a AP_Mission: fixed logic in jump_to_landing_sequence() 
see comments on drones-discuss
 2014-10-20 08:36:20 +11:00
Andrew Tridgell 8c6b875dcc AP_Mission: avoid the AP_AHRS cast 
get_position() is now const
 2014-10-20 08:36:20 +11:00
Michael Day ea91f4d47b AP_Mission: Added support for MAV_CMD_DO_LAND_START 2014-10-20 08:36:19 +11:00
Randy Mackay be1621877f 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.
 2014-10-13 21:40:23 +09:00
Randy Mackay 5ca3c4baf6 Mission: fix CHANGE_ALT to store climb rate in lat param 
The slightly confusing storage of climb rate in the lat field led to a
bug fix a few months ago that actually created a bug.
 2014-09-26 23:23:04 +09:00
Randy Mackay 1ce8e453c2 Mission: add support for DO_GRIPPER 2014-09-17 21:14:17 +09:00
Andrew Tridgell effccacf46 AP_Mission: fixed acceptance radius outgoing 
this needs to match incoming
 2014-09-03 21:15:56 +10:00
Andrew Tridgell 3a5e960fe5 AP_Mission: revert APM_BUILD_TYPE change 2014-09-03 13:28:17 +10:00
Andrew Tridgell 36b854fa98 AP_Mission: fixed build for arduino IDE 2014-09-03 13:20:31 +10:00
Andrew Tridgell c4f84232e2 AP_Mission: make cmd.p1 be radius on plane for NAV_WAYPOINT 2014-09-03 12:38:30 +10:00
Randy Mackay d6aa868cac Mission: start next nav cmd immediately after prev completes 2014-08-27 18:05:49 +10:00
Andrew Tridgell 7a12ff0271 AP_Mission: convert to using StorageManager 2014-08-13 18:46:43 +10:00
Daniel Frenzel 1c7e8f8fb2 AP_Mission: Consecutive return, break, continue, goto or throw statements are unnecessary. 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2014-08-11 09:24:26 +10:00
Andrew Tridgell df55ae86c4 AP_Mission: added last_change_time_ms() call 
will be used by terrain lib for scanning waypoints
 2014-08-06 17:59:19 +10:00
Randy Mackay 621cc2b953 Mission: bug fix to condition-change-alt 
Fix contributed by oniondream, thanks!
 2014-08-01 12:51:50 +09:00
Andrew Tridgell 34cbaa6f17 AP_Mission: added support for MAV_FRAME_GLOBAL_TERRAIN_ALT 2014-07-25 08:33:44 +10:00
Andrew Tridgell feaf9751cc AP_Mission: removed use of MAV_CMD_NAV_VELOCITY and MAV_CMD_NAV_GUIDED 2014-07-24 21:38:31 +10:00
Randy Mackay fe8a5be802 AP_Mission: support MAV_CMD_NAV_VELOCITY msg 2014-07-06 17:01:00 +09:00
Randy Mackay f4c9d58051 AP_Mission: add support for MAV_CMD_NAV_GUIDED 2014-07-06 17:00:26 +09:00