/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /********************************************************************************/ // Command Event Handlers /********************************************************************************/ // process_nav_command - main switch statement to initiate the next nav command in the command_nav_queue static void process_nav_command() { switch(command_nav_queue.id) { case MAV_CMD_NAV_TAKEOFF: // 22 do_takeoff(); break; case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint do_nav_wp(); break; case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint do_land(); break; case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely do_loiter_unlimited(); break; case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times do_circle(); break; case MAV_CMD_NAV_LOITER_TIME: // 19 do_loiter_time(); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20 do_RTL(); break; // point the copter and camera at a region of interest (ROI) case MAV_CMD_NAV_ROI: // 80 do_nav_roi(); break; default: break; } } static void process_cond_command() { switch(command_cond_queue.id) { case MAV_CMD_CONDITION_DELAY: // 112 do_wait_delay(); break; case MAV_CMD_CONDITION_DISTANCE: // 114 do_within_distance(); break; case MAV_CMD_CONDITION_CHANGE_ALT: // 113 do_change_alt(); break; case MAV_CMD_CONDITION_YAW: // 115 do_yaw(); break; default: break; } } static void process_now_command() { switch(command_cond_queue.id) { case MAV_CMD_DO_JUMP: // 177 do_jump(); break; case MAV_CMD_DO_CHANGE_SPEED: // 178 do_change_speed(); break; case MAV_CMD_DO_SET_HOME: // 179 do_set_home(); break; case MAV_CMD_DO_SET_SERVO: // 183 do_set_servo(); break; case MAV_CMD_DO_SET_RELAY: // 181 do_set_relay(); break; case MAV_CMD_DO_REPEAT_SERVO: // 184 do_repeat_servo(); break; case MAV_CMD_DO_REPEAT_RELAY: // 182 do_repeat_relay(); break; #if CAMERA == ENABLED case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| break; case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)| break; case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| do_take_picture(); break; #endif #if MOUNT == ENABLED case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| camera_mount.configure_cmd(); break; case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty| camera_mount.control_cmd(); break; #endif default: // do nothing with unrecognized MAVLink messages break; } } /********************************************************************************/ // Verify command Handlers /********************************************************************************/ // verify_must - switch statement to ensure the active navigation command is progressing // returns true once the active navigation command completes successfully static bool verify_must() { switch(command_nav_queue.id) { case MAV_CMD_NAV_TAKEOFF: return verify_takeoff(); break; case MAV_CMD_NAV_WAYPOINT: return verify_nav_wp(); break; case MAV_CMD_NAV_LAND: return verify_land(); break; case MAV_CMD_NAV_LOITER_UNLIM: return verify_loiter_unlimited(); break; case MAV_CMD_NAV_LOITER_TURNS: return verify_circle(); break; case MAV_CMD_NAV_LOITER_TIME: return verify_loiter_time(); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: return verify_RTL(); break; case MAV_CMD_NAV_ROI: // 80 return verify_nav_roi(); break; default: //gcs_send_text_P(SEVERITY_HIGH,PSTR(" No current Must commands")); return false; break; } } // verify_may - switch statement to ensure the active conditional command is progressing // returns true once the active conditional command completes successfully static bool verify_may() { switch(command_cond_queue.id) { case MAV_CMD_CONDITION_DELAY: return verify_wait_delay(); break; case MAV_CMD_CONDITION_DISTANCE: return verify_within_distance(); break; case MAV_CMD_CONDITION_CHANGE_ALT: return verify_change_alt(); break; case MAV_CMD_CONDITION_YAW: return verify_yaw(); break; default: //gcs_send_text_P(SEVERITY_HIGH,PSTR(" No current May commands")); return false; break; } } /********************************************************************************/ // /********************************************************************************/ // do_RTL - start Return-to-Launch static void do_RTL(void) { // set rtl state rtl_state = RTL_STATE_START; // verify_RTL will do the initialisation for us verify_RTL(); } /********************************************************************************/ // Nav (Must) commands /********************************************************************************/ // do_takeoff - initiate takeoff navigation command static void do_takeoff() { // set roll-pitch mode set_roll_pitch_mode(AUTO_RP); // set yaw mode set_yaw_mode(YAW_HOLD); // set throttle mode to AUTO although we should already be in this mode set_throttle_mode(THROTTLE_AUTO); // set our nav mode to loiter set_nav_mode(NAV_WP); // Set wp navigation target to safe altitude above current position Vector3f pos = inertial_nav.get_position(); pos.z = max(pos.z, command_nav_queue.alt); wp_nav.set_destination(pos); // prevent flips // To-Do: check if this is still necessary reset_I_all(); } // do_nav_wp - initiate move to next waypoint // note: caller should set yaw mode static void do_nav_wp() { // set roll-pitch mode set_roll_pitch_mode(AUTO_RP); // set throttle mode set_throttle_mode(THROTTLE_AUTO); // set nav mode set_nav_mode(NAV_WP); // Set wp navigation target wp_nav.set_destination(pv_location_to_vector(command_nav_queue)); // initialise original_wp_bearing which is used to check if we have missed the waypoint wp_bearing = wp_nav.get_bearing_to_destination(); original_wp_bearing = wp_bearing; // this will be used to remember the time in millis after we reach or pass the WP. loiter_time = 0; // this is the delay, stored in seconds and expanded to millis loiter_time_max = command_nav_queue.p1; // set yaw_mode depending upon contents of WP_YAW_BEHAVIOR parameter set_yaw_mode(get_wp_yaw_mode(false)); } // do_land - initiate landing procedure // caller should set roll_pitch_mode to ROLL_PITCH_AUTO (for no pilot input) or ROLL_PITCH_LOITER (for pilot input) // caller should set yaw_mode static void do_land() { if( ap.home_is_set ) { // switch to loiter if we have gps set_roll_pitch_mode(ROLL_PITCH_LOITER); }else{ // otherwise remain with stabilize roll and pitch set_roll_pitch_mode(ROLL_PITCH_STABLE); } // hold yaw while landing set_yaw_mode(YAW_HOLD); // set throttle mode to land set_throttle_mode(THROTTLE_LAND); // switch into loiter nav mode set_nav_mode(NAV_LOITER); } // do_loiter_unlimited - start loitering with no end conditions // note: caller should set yaw_mode static void do_loiter_unlimited() { // set roll-pitch mode (no pilot input) set_roll_pitch_mode(AUTO_RP); // set throttle mode to AUTO which, if not already active, will default to hold at our current altitude set_throttle_mode(THROTTLE_AUTO); // get current position // To-Do: change this to projection based on current location and velocity Vector3f curr = inertial_nav.get_position(); // default to use position provided Vector3f pos = pv_location_to_vector(command_nav_queue); // use current altitude if not provided if( command_nav_queue.alt == 0 ) { pos.z = curr.z; } // use current location if not provided if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) { pos.x = curr.x; pos.y = curr.y; } // start way point navigator and provide it the desired location set_nav_mode(NAV_WP); wp_nav.set_destination(pos); } // do_circle - initiate moving in a circle static void do_circle() { // set roll-pitch mode (no pilot input) set_roll_pitch_mode(AUTO_RP); // set throttle mode to AUTO which, if not already active, will default to hold at our current altitude set_throttle_mode(THROTTLE_AUTO); // set nav mode to CIRCLE set_nav_mode(NAV_CIRCLE); // set target altitude if provided if( command_nav_queue.alt != 0 ) { wp_nav.set_desired_alt(command_nav_queue.alt); } // override default horizontal location target if( command_nav_queue.lat != 0 || command_nav_queue.lng != 0) { circle_set_center(pv_location_to_vector(command_nav_queue), ahrs.yaw); } // set yaw to point to center of circle set_yaw_mode(CIRCLE_YAW); // set angle travelled so far to zero circle_angle_total = 0; // record number of desired rotations from mission command circle_desired_rotations = command_nav_queue.p1; } // do_loiter_time - initiate loitering at a point for a given time period // note: caller should set yaw_mode static void do_loiter_time() { // set roll-pitch mode (no pilot input) set_roll_pitch_mode(AUTO_RP); // set throttle mode to AUTO which, if not already active, will default to hold at our current altitude set_throttle_mode(THROTTLE_AUTO); // get current position // To-Do: change this to projection based on current location and velocity Vector3f curr = inertial_nav.get_position(); // default to use position provided Vector3f pos = pv_location_to_vector(command_nav_queue); // use current altitude if not provided if( command_nav_queue.alt == 0 ) { pos.z = curr.z; } // use current location if not provided if(command_nav_queue.lat == 0 && command_nav_queue.lng == 0) { pos.x = curr.x; pos.y = curr.y; } // start way point navigator and provide it the desired location set_nav_mode(NAV_WP); wp_nav.set_destination(pos); // setup loiter timer loiter_time = 0; loiter_time_max = command_nav_queue.p1; // units are (seconds) } /********************************************************************************/ // Verify Nav (Must) commands /********************************************************************************/ // verify_takeoff - check if we have completed the takeoff static bool verify_takeoff() { // wait until we are ready! if(g.rc_3.control_in == 0) { // To-Do: reset loiter target if we have not yet taken-off // do not allow I term to build up if we have not yet taken-off return false; } // have we reached our target altitude? return wp_nav.reached_destination(); } // verify_land - returns true if landing has been completed static bool verify_land() { // rely on THROTTLE_LAND mode to correctly update landing status return ap.land_complete; } // verify_nav_wp - check if we have reached the next way point static bool verify_nav_wp() { // check if we have reached the waypoint if( !wp_nav.reached_destination() ) { return false; } // start timer if necessary if(loiter_time == 0) { loiter_time = millis(); } // check if timer has run out if (((millis() - loiter_time) / 1000) >= loiter_time_max) { gcs_send_text_fmt(PSTR("Reached Command #%i"),command_nav_index); copter_leds_nav_blink = 15; // Cause the CopterLEDs to blink three times to indicate waypoint reached return true; }else{ return false; } } static bool verify_loiter_unlimited() { return false; } // verify_loiter_time - check if we have loitered long enough static bool verify_loiter_time() { // return immediately if we haven't reached our destination if (!wp_nav.reached_destination()) { return false; } // start our loiter timer if( loiter_time == 0 ) { loiter_time = millis(); } // check if loiter timer has run out return (((millis() - loiter_time) / 1000) >= loiter_time_max); } // verify_circle - check if we have circled the point enough static bool verify_circle() { // have we rotated around the center enough times? return fabsf(circle_angle_total/(2*M_PI)) >= circle_desired_rotations; } // verify_RTL - handles any state changes required to implement RTL // do_RTL should have been called once first to initialise all variables // returns true with RTL has completed successfully static bool verify_RTL() { bool retval = false; switch( rtl_state ) { case RTL_STATE_START: // set roll, pitch and yaw modes set_roll_pitch_mode(RTL_RP); set_throttle_mode(RTL_THR); // set navigation mode set_nav_mode(NAV_WP); // if we are below rtl alt do initial climb if( current_loc.alt < get_RTL_alt() ) { // first stage of RTL is the initial climb so just hold current yaw set_yaw_mode(YAW_HOLD); // get current position // To-Do: use projection of safe stopping point based on current location and velocity Vector3f target_pos = inertial_nav.get_position(); target_pos.z = get_RTL_alt(); wp_nav.set_destination(target_pos); // advance to next rtl state rtl_state = RTL_STATE_INITIAL_CLIMB; }else{ // point nose towards home (maybe) set_yaw_mode(get_wp_yaw_mode(true)); // Set wp navigation target to above home wp_nav.set_destination(Vector3f(0,0,get_RTL_alt())); // advance to next rtl state rtl_state = RTL_STATE_RETURNING_HOME; } break; case RTL_STATE_INITIAL_CLIMB: // check if we've reached the safe altitude if (wp_nav.reached_destination()) { // set nav mode set_nav_mode(NAV_WP); // Set wp navigation target to above home wp_nav.set_destination(Vector3f(0,0,get_RTL_alt())); // set yaw mode set_yaw_mode(YAW_HOLD); // advance to next rtl state rtl_state = RTL_STATE_RETURNING_HOME; } break; case RTL_STATE_RETURNING_HOME: // check if we've reached home if (wp_nav.reached_destination()) { // Note: we remain in NAV_WP nav mode which should hold us above home // start timer rtl_loiter_start_time = millis(); // give pilot back control of yaw set_yaw_mode(YAW_HOLD); // advance to next rtl state rtl_state = RTL_STATE_LOITERING_AT_HOME; } break; case RTL_STATE_LOITERING_AT_HOME: // check if we've loitered long enough if( millis() - rtl_loiter_start_time > (uint32_t)g.rtl_loiter_time.get() ) { // initiate landing or descent if(g.rtl_alt_final == 0 || ap.failsafe_radio) { // land - this will switch us into land throttle mode and loiter nav mode and give horizontal control back to pilot do_land(); // override landing location (do_land defaults to current location) // Note: loiter controller ignores target altitude wp_nav.set_loiter_target(Vector3f(0,0,0)); // update RTL state rtl_state = RTL_STATE_LAND; }else{ // descend using waypoint controller if(current_loc.alt > g.rtl_alt_final) { // set navigation mode set_nav_mode(NAV_WP); // Set wp navigation alt target to rtl_alt_final wp_nav.set_destination(Vector3f(0,0,g.rtl_alt_final)); } // update RTL state rtl_state = RTL_STATE_FINAL_DESCENT; } } break; case RTL_STATE_FINAL_DESCENT: // check we have reached final altitude if(current_loc.alt <= g.rtl_alt_final || wp_nav.reached_destination()) { // indicate that we've completed RTL retval = true; } break; case RTL_STATE_LAND: // rely on verify_land to return correct status retval = verify_land(); break; default: // this should never happen // TO-DO: log an error retval = true; break; } // true is returned if we've successfully completed RTL return retval; } /********************************************************************************/ // Condition (May) commands /********************************************************************************/ static void do_wait_delay() { //cliSerial->print("dwd "); condition_start = millis(); condition_value = command_cond_queue.lat * 1000; // convert to milliseconds //cliSerial->println(condition_value,DEC); } static void do_change_alt() { // adjust target appropriately for each nav mode switch (nav_mode) { case NAV_CIRCLE: case NAV_LOITER: // update loiter target altitude wp_nav.set_desired_alt(command_cond_queue.alt); break; case NAV_WP: // To-Do: update waypoint nav's destination altitude break; } // To-Do: store desired altitude in a variable so that it can be verified later } static void do_within_distance() { condition_value = command_cond_queue.lat * 100; } static void do_yaw() { // get final angle, 1 = Relative, 0 = Absolute if( command_cond_queue.lng == 0 ) { // absolute angle yaw_look_at_heading = wrap_360_cd(command_cond_queue.alt * 100); }else{ // relative angle yaw_look_at_heading = wrap_360_cd(nav_yaw + command_cond_queue.alt * 100); } // get turn speed if( command_cond_queue.lat == 0 ) { // default to regular auto slew rate yaw_look_at_heading_slew = AUTO_YAW_SLEW_RATE; }else{ int32_t turn_rate = (wrap_180_cd(yaw_look_at_heading - nav_yaw) / 100) / command_cond_queue.lat; yaw_look_at_heading_slew = constrain_int32(turn_rate, 1, 360); // deg / sec } // set yaw mode set_yaw_mode(YAW_LOOK_AT_HEADING); // TO-DO: restore support for clockwise / counter clockwise rotation held in command_cond_queue.p1 // command_cond_queue.p1; // 0 = undefined, 1 = clockwise, -1 = counterclockwise } /********************************************************************************/ // Verify Condition (May) commands /********************************************************************************/ static bool verify_wait_delay() { //cliSerial->print("vwd"); if (millis() - condition_start > (uint32_t)max(condition_value,0)) { //cliSerial->println("y"); condition_value = 0; return true; } //cliSerial->println("n"); return false; } static bool verify_change_alt() { // To-Do: use recorded target altitude to verify we have reached the target return true; } static bool verify_within_distance() { //cliSerial->printf("cond dist :%d\n", (int)condition_value); if (wp_distance < max(condition_value,0)) { condition_value = 0; return true; } return false; } // verify_yaw - return true if we have reached the desired heading static bool verify_yaw() { if( labs(wrap_180_cd(ahrs.yaw_sensor-yaw_look_at_heading)) <= 200 ) { return true; }else{ return false; } } // verify_nav_roi - verifies that actions required by MAV_CMD_NAV_ROI have completed // we assume the camera command has been successfully implemented by the do_nav_roi command // so all we need to check is whether we needed to yaw the copter (due to the mount type) and // whether that yaw has completed // TO-DO: add support for other features of MAV_NAV_ROI including pointing at a given waypoint static bool verify_nav_roi() { #if MOUNT == ENABLED // check if mount type requires us to rotate the quad if( camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll ) { // ensure yaw has gotten to within 2 degrees of the target if( labs(wrap_180_cd(ahrs.yaw_sensor-yaw_look_at_WP_bearing)) <= 200 ) { return true; }else{ return false; } }else{ // if no rotation required, assume the camera instruction was implemented immediately return true; } #else // if we have no camera mount simply check we've reached the desired yaw // ensure yaw has gotten to within 2 degrees of the target if( labs(wrap_180_cd(ahrs.yaw_sensor-yaw_look_at_WP_bearing)) <= 200 ) { return true; }else{ return false; } #endif } /********************************************************************************/ // Do (Now) commands /********************************************************************************/ static void do_change_speed() { wp_nav.set_horizontal_velocity(command_cond_queue.p1 * 100); } static void do_jump() { // Used to track the state of the jump command in Mission scripting // -10 is a value that means the register is unused // when in use, it contains the current remaining jumps static int8_t jump = -10; // used to track loops in jump command //cliSerial->printf("do Jump: %d\n", jump); if(jump == -10) { //cliSerial->printf("Fresh Jump\n"); // we use a locally stored index for jump jump = command_cond_queue.lat; } //cliSerial->printf("Jumps left: %d\n",jump); if(jump > 0) { //cliSerial->printf("Do Jump to %d\n",command_cond_queue.p1); jump--; change_command(command_cond_queue.p1); } else if (jump == 0) { //cliSerial->printf("Did last jump\n"); // we're done, move along jump = -11; } else if (jump == -1) { //cliSerial->printf("jumpForever\n"); // repeat forever change_command(command_cond_queue.p1); } } static void do_set_home() { if(command_cond_queue.p1 == 1) { init_home(); } else { home.id = MAV_CMD_NAV_WAYPOINT; home.lng = command_cond_queue.lng; // Lon * 10**7 home.lat = command_cond_queue.lat; // Lat * 10**7 home.alt = 0; //home_is_set = true; set_home_is_set(true); } } static void do_set_servo() { uint8_t channel_num = 0xff; switch( command_cond_queue.p1 ) { case 1: channel_num = CH_1; break; case 2: channel_num = CH_2; break; case 3: channel_num = CH_3; break; case 4: channel_num = CH_4; break; case 5: channel_num = CH_5; break; case 6: channel_num = CH_6; break; case 7: channel_num = CH_7; break; case 8: channel_num = CH_8; break; case 9: // not used break; case 10: channel_num = CH_10; break; case 11: channel_num = CH_11; break; } // send output to channel if (channel_num != 0xff) { hal.rcout->enable_ch(channel_num); hal.rcout->write(channel_num, command_cond_queue.alt); } } static void do_set_relay() { if (command_cond_queue.p1 == 1) { relay.on(); } else if (command_cond_queue.p1 == 0) { relay.off(); }else{ relay.toggle(); } } static void do_repeat_servo() { event_id = command_cond_queue.p1 - 1; if(command_cond_queue.p1 >= CH_5 + 1 && command_cond_queue.p1 <= CH_8 + 1) { event_timer = 0; event_value = command_cond_queue.alt; event_repeat = command_cond_queue.lat * 2; event_delay = command_cond_queue.lng * 500.0f; // /2 (half cycle time) * 1000 (convert to milliseconds) switch(command_cond_queue.p1) { case CH_5: event_undo_value = g.rc_5.radio_trim; break; case CH_6: event_undo_value = g.rc_6.radio_trim; break; case CH_7: event_undo_value = g.rc_7.radio_trim; break; case CH_8: event_undo_value = g.rc_8.radio_trim; break; } update_events(); } } static void do_repeat_relay() { event_id = RELAY_TOGGLE; event_timer = 0; event_delay = command_cond_queue.lat * 500.0f; // /2 (half cycle time) * 1000 (convert to milliseconds) event_repeat = command_cond_queue.alt * 2; update_events(); } // do_nav_roi - starts actions required by MAV_CMD_NAV_ROI // this involves either moving the camera to point at the ROI (region of interest) // and possibly rotating the copter to point at the ROI if our mount type does not support a yaw feature // Note: the ROI should already be in the command_nav_queue global variable // TO-DO: add support for other features of MAV_NAV_ROI including pointing at a given waypoint static void do_nav_roi() { #if MOUNT == ENABLED // check if mount type requires us to rotate the quad if( camera_mount.get_mount_type() != AP_Mount::k_pan_tilt && camera_mount.get_mount_type() != AP_Mount::k_pan_tilt_roll ) { yaw_look_at_WP = pv_location_to_vector(command_nav_queue); set_yaw_mode(YAW_LOOK_AT_LOCATION); } // send the command to the camera mount camera_mount.set_roi_cmd(&command_nav_queue); // TO-DO: expand handling of the do_nav_roi to support all modes of the MAVLink. Currently we only handle mode 4 (see below) // 0: do nothing // 1: point at next waypoint // 2: point at a waypoint taken from WP# parameter (2nd parameter?) // 3: point at a location given by alt, lon, lat parameters // 4: point at a target given a target id (can't be implmented) #else // if we have no camera mount aim the quad at the location yaw_look_at_WP = pv_location_to_vector(command_nav_queue); set_yaw_mode(YAW_LOOK_AT_LOCATION); #endif } // do_take_picture - take a picture with the camera library static void do_take_picture() { #if CAMERA == ENABLED camera.trigger_pic(); if (g.log_bitmask & MASK_LOG_CAMERA) { Log_Write_Camera(); } #endif }