/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /********************************************************************************/ // Command Event Handlers /********************************************************************************/ static void handle_process_must() { switch(next_command.id){ case MAV_CMD_NAV_TAKEOFF: do_takeoff(); break; case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint do_nav_wp(); break; case MAV_CMD_NAV_LAND: // LAND to Waypoint do_land(); break; case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely do_loiter_unlimited(); break; case MAV_CMD_NAV_LOITER_TURNS: // Loiter N Times do_loiter_turns(); break; case MAV_CMD_NAV_LOITER_TIME: // 19 do_loiter_time(); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: do_RTL(); break; default: break; } } static void handle_process_may() { switch(next_command.id){ case MAV_CMD_CONDITION_DELAY: do_wait_delay(); break; case MAV_CMD_CONDITION_DISTANCE: do_within_distance(); break; case MAV_CMD_CONDITION_CHANGE_ALT: do_change_alt(); break; case MAV_CMD_CONDITION_YAW: do_yaw(); break; default: break; } } static void handle_process_now() { switch(next_command.id){ case MAV_CMD_DO_JUMP: do_jump(); break; case MAV_CMD_DO_CHANGE_SPEED: do_change_speed(); break; case MAV_CMD_DO_SET_HOME: do_set_home(); break; case MAV_CMD_DO_SET_SERVO: do_set_servo(); break; case MAV_CMD_DO_SET_RELAY: do_set_relay(); break; case MAV_CMD_DO_REPEAT_SERVO: do_repeat_servo(); break; case MAV_CMD_DO_REPEAT_RELAY: do_repeat_relay(); break; case MAV_CMD_DO_SET_ROI: do_target_yaw(); } } static void handle_no_commands() { /* switch (control_mode){ default: set_mode(RTL); break; }*/ //return; //Serial.println("Handle No CMDs"); } /********************************************************************************/ // Verify command Handlers /********************************************************************************/ static bool verify_must() { //Serial.printf("vmust: %d\n", command_must_ID); switch(command_must_ID) { case MAV_CMD_NAV_TAKEOFF: return verify_takeoff(); break; case MAV_CMD_NAV_LAND: return verify_land(); break; case MAV_CMD_NAV_WAYPOINT: return verify_nav_wp(); break; case MAV_CMD_NAV_LOITER_UNLIM: return false; break; case MAV_CMD_NAV_LOITER_TURNS: return verify_loiter_turns(); break; case MAV_CMD_NAV_LOITER_TIME: return verify_loiter_time(); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: return verify_RTL(); break; default: //gcs_send_text_P(SEVERITY_HIGH,PSTR(" No current Must commands")); return false; break; } } static bool verify_may() { switch(command_may_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; } } /********************************************************************************/ // /********************************************************************************/ static void do_RTL(void) { // TODO: Altitude option from mission planner Location temp = home; temp.alt = read_alt_to_hold(); //so we know where we are navigating from // -------------------------------------- next_WP = current_loc; // Loads WP from Memory // -------------------- set_next_WP(&temp); // output control mode to the ground station // ----------------------------------------- gcs_send_message(MSG_HEARTBEAT); } /********************************************************************************/ // Nav (Must) commands /********************************************************************************/ static void do_takeoff() { wp_control = LOITER_MODE; // Start with current location Location temp = current_loc; // next_command.alt is a relative altitude!!! if (next_command.options & WP_OPTION_ALT_RELATIVE) { temp.alt = next_command.alt + home.alt; //Serial.printf("rel alt: %ld",temp.alt); } else { temp.alt = next_command.alt; //Serial.printf("abs alt: %ld",temp.alt); } takeoff_complete = false; // set flag to use g_gps ground course during TO. IMU will be doing yaw drift correction // Set our waypoint set_next_WP(&temp); } static void do_nav_wp() { wp_control = WP_MODE; // next_command.alt is a relative altitude!!! if (next_command.options & WP_OPTION_ALT_RELATIVE) { next_command.alt += home.alt; } set_next_WP(&next_command); // this is our bitmask to verify we have met all conditions to move on wp_verify_byte = 0; // 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 = next_command.p1 * 1000; // if we don't require an altitude minimum, we save this flag as passed (1) if((next_WP.options & WP_OPTION_ALT_REQUIRED) == 0){ // we don't need to worry about it wp_verify_byte |= NAV_ALTITUDE; } } static void do_land() { wp_control = LOITER_MODE; //Serial.println("dlnd "); // not really used right now, might be good for debugging land_complete = false; // A value that drives to 0 when the altitude doesn't change velocity_land = 2000; // used to limit decent rate land_start = millis(); // used to limit decent rate original_alt = current_loc.alt; // hold at our current location set_next_WP(¤t_loc); } static void do_loiter_unlimited() { wp_control = LOITER_MODE; //Serial.println("dloi "); if(next_command.lat == 0) set_next_WP(¤t_loc); else set_next_WP(&next_command); } static void do_loiter_turns() { wp_control = CIRCLE_MODE; if(next_command.lat == 0) set_next_WP(¤t_loc); else set_next_WP(&next_command); loiter_total = next_command.p1 * 360; loiter_sum = 0; } static void do_loiter_time() { if(next_command.lat == 0){ wp_control = LOITER_MODE; loiter_time = millis(); set_next_WP(¤t_loc); }else{ wp_control = WP_MODE; set_next_WP(&next_command); } loiter_time_max = next_command.p1 * 1000; // units are (seconds) } /********************************************************************************/ // Verify Nav (Must) commands /********************************************************************************/ static bool verify_takeoff() { // wait until we are ready! if(g.rc_3.control_in == 0){ return false; } if (current_loc.alt > next_WP.alt){ //Serial.println("Y"); takeoff_complete = true; return true; }else{ //Serial.println("N"); return false; } } static bool verify_land() { // land at 1 meter per second next_WP.alt = original_alt - ((millis() - land_start) / 20); // condition_value = our initial velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8); old_alt = current_loc.alt; if(g.sonar_enabled){ // decide which sensor we're using if(sonar_alt < 300){ next_WP = current_loc; // don't pitch or roll next_WP.alt = -200; // force us down } if(sonar_alt < 40){ land_complete = true; //Serial.println("Y"); //return true; } } if(velocity_land <= 0){ land_complete = true; //return true; } //Serial.printf("N, %d\n", velocity_land); //Serial.printf("N_alt, %ld\n", next_WP.alt); return false; } static bool verify_nav_wp() { // Altitude checking if(next_WP.options & WP_OPTION_ALT_REQUIRED){ // we desire a certain minimum altitude if (current_loc.alt > next_WP.alt){ // we have reached that altitude wp_verify_byte |= NAV_ALTITUDE; } } // Did we pass the WP? // Distance checking if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ // if we have a distance calc error, wp_distance may be less than 0 if(wp_distance > 0){ wp_verify_byte |= NAV_LOCATION; if(loiter_time == 0){ loiter_time = millis(); } } } // Hold at Waypoint checking, we cant move on until this is OK if(wp_verify_byte & NAV_LOCATION){ // we have reached our goal // loiter at the WP wp_control = LOITER_MODE; if ((millis() - loiter_time) > loiter_time_max) { wp_verify_byte |= NAV_DELAY; //gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER time complete")); //Serial.println("vlt done"); } } if(wp_verify_byte >= 7){ //if(wp_verify_byte & NAV_LOCATION){ char message[30]; sprintf(message,"Reached Command #%i",command_must_index); gcs_send_text(SEVERITY_LOW,message); wp_verify_byte = 0; return true; }else{ return false; } } static bool verify_loiter_unlim() { return false; } static bool verify_loiter_time() { if(wp_control == LOITER_MODE){ if ((millis() - loiter_time) > loiter_time_max) { return true; } } if(wp_control == WP_MODE && wp_distance <= g.waypoint_radius){ // reset our loiter time loiter_time = millis(); // switch to position hold wp_control = LOITER_MODE; } return false; } static bool verify_loiter_turns() { // have we rotated around the center enough times? // ----------------------------------------------- if(abs(loiter_sum) > loiter_total) { loiter_total = 0; loiter_sum = 0; //gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete")); // clear the command queue; return true; } return false; } static bool verify_RTL() { if (wp_distance <= g.waypoint_radius) { //gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); return true; }else{ return false; } } /********************************************************************************/ // Condition (May) commands /********************************************************************************/ static void do_wait_delay() { //Serial.print("dwd "); condition_start = millis(); condition_value = next_command.lat * 1000; // convert to milliseconds //Serial.println(condition_value,DEC); } static void do_change_alt() { Location temp = next_WP; condition_start = current_loc.alt; condition_value = next_command.alt; temp.alt = next_command.alt; set_next_WP(&temp); } static void do_within_distance() { condition_value = next_command.lat; } static void do_yaw() { //Serial.println("dyaw "); yaw_tracking = MAV_ROI_NONE; // target angle in degrees command_yaw_start = nav_yaw; // current position command_yaw_start_time = millis(); command_yaw_dir = next_command.p1; // 1 = clockwise, 0 = counterclockwise command_yaw_speed = next_command.lat * 100; // ms * 100 command_yaw_relative = next_command.lng; // 1 = Relative, 0 = Absolute // if unspecified go 30° a second if(command_yaw_speed == 0) command_yaw_speed = 3000; // if unspecified go counterclockwise if(command_yaw_dir == 0) command_yaw_dir = -1; else command_yaw_dir = 1; if (command_yaw_relative == 1){ // relative command_yaw_delta = next_command.alt * 100; }else{ // absolute command_yaw_end = next_command.alt * 100; // calculate the delta travel in deg * 100 if(command_yaw_dir == 1){ if(command_yaw_start >= command_yaw_end){ command_yaw_delta = 36000 - (command_yaw_start - command_yaw_end); }else{ command_yaw_delta = command_yaw_end - command_yaw_start; } }else{ if(command_yaw_start > command_yaw_end){ command_yaw_delta = command_yaw_start - command_yaw_end; }else{ command_yaw_delta = 36000 + (command_yaw_start - command_yaw_end); } } command_yaw_delta = wrap_360(command_yaw_delta); } // rate to turn deg per second - default is ten command_yaw_time = (command_yaw_delta / command_yaw_speed) * 1000; } /********************************************************************************/ // Verify Condition (May) commands /********************************************************************************/ static bool verify_wait_delay() { //Serial.print("vwd"); if ((unsigned)(millis() - condition_start) > condition_value){ //Serial.println("y"); condition_value = 0; return true; } //Serial.println("n"); return false; } static bool verify_change_alt() { if (condition_start < next_WP.alt){ // we are going higer if(current_loc.alt > next_WP.alt){ condition_value = 0; return true; } }else{ // we are going lower if(current_loc.alt < next_WP.alt){ condition_value = 0; return true; } } return false; } static bool verify_within_distance() { if (wp_distance < condition_value){ condition_value = 0; return true; } return false; } static bool verify_yaw() { //Serial.print("vyaw "); if((millis() - command_yaw_start_time) > command_yaw_time){ // time out // make sure we hold at the final desired yaw angle nav_yaw = command_yaw_end; auto_yaw = nav_yaw; //Serial.println("Y"); return true; }else{ // else we need to be at a certain place // power is a ratio of the time : .5 = half done float power = (float)(millis() - command_yaw_start_time) / (float)command_yaw_time; nav_yaw = command_yaw_start + ((float)command_yaw_delta * power * command_yaw_dir); nav_yaw = wrap_360(nav_yaw); auto_yaw = nav_yaw; //Serial.printf("ny %ld\n",nav_yaw); return false; } } /********************************************************************************/ // Do (Now) commands /********************************************************************************/ static void do_change_speed() { g.waypoint_speed_max = next_command.p1 * 100; } static void do_target_yaw() { yaw_tracking = next_command.p1; if(yaw_tracking == MAV_ROI_LOCATION){ target_WP = next_command; } } static void do_loiter_at_location() { next_WP = current_loc; } static void do_jump() { if(jump == -10){ jump = next_command.lat; } if(jump > 0) { jump--; command_must_index = 0; command_may_index = 0; // set pointer to desired index g.command_index = next_command.p1 - 1; } else if (jump == 0){ // we're done, move along jump = -10; } else if (jump == -1) { // repeat forever g.command_index = next_command.p1 - 1; } } static void do_set_home() { if(next_command.p1 == 1) { init_home(); } else { home.id = MAV_CMD_NAV_WAYPOINT; home.lng = next_command.lng; // Lon * 10**7 home.lat = next_command.lat; // Lat * 10**7 home.alt = max(next_command.alt, 0); home_is_set = true; } } static void do_set_servo() { APM_RC.OutputCh(next_command.p1 - 1, next_command.alt); } static void do_set_relay() { if (next_command.p1 == 1) { relay.on(); } else if (next_command.p1 == 0) { relay.off(); }else{ relay.toggle(); } } static void do_repeat_servo() { event_id = next_command.p1 - 1; if(next_command.p1 >= CH_5 + 1 && next_command.p1 <= CH_8 + 1) { event_timer = 0; event_value = next_command.alt; event_repeat = next_command.lat * 2; event_delay = next_command.lng * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) switch(next_command.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 = next_command.lat * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) event_repeat = next_command.alt * 2; update_events(); }