/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // forward declarations to make compiler happy static void do_nav_wp(const AP_Mission::Mission_Command& cmd); static void do_wait_delay(const AP_Mission::Mission_Command& cmd); static void do_within_distance(const AP_Mission::Mission_Command& cmd); static void do_change_speed(const AP_Mission::Mission_Command& cmd); static void do_set_home(const AP_Mission::Mission_Command& cmd); static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd); #if CAMERA == ENABLED static void do_digicam_configure(const AP_Mission::Mission_Command& cmd); static void do_digicam_control(const AP_Mission::Mission_Command& cmd); #endif /********************************************************************************/ // Command Event Handlers /********************************************************************************/ static bool start_command(const AP_Mission::Mission_Command& cmd) { // log when new commands start if (should_log(MASK_LOG_CMD)) { Log_Write_Cmd(cmd); } // exit immediately if not in AUTO mode if (control_mode != AUTO) { return false; } gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id); // remember the course of our next navigation leg next_navigation_leg_cd = mission.get_next_ground_course_cd(0); switch(cmd.id){ case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint do_nav_wp(cmd); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: do_RTL(); break; // Conditional commands case MAV_CMD_CONDITION_DELAY: do_wait_delay(cmd); break; case MAV_CMD_CONDITION_DISTANCE: do_within_distance(cmd); break; // Do commands case MAV_CMD_DO_CHANGE_SPEED: do_change_speed(cmd); break; case MAV_CMD_DO_SET_HOME: do_set_home(cmd); break; case MAV_CMD_DO_SET_SERVO: ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm); break; case MAV_CMD_DO_SET_RELAY: ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state); break; case MAV_CMD_DO_REPEAT_SERVO: ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm, cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f); break; case MAV_CMD_DO_REPEAT_RELAY: ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count, cmd.content.repeat_relay.cycle_time * 1000.0f); 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)| do_digicam_configure(cmd); 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_digicam_control(cmd); break; case MAV_CMD_DO_SET_CAM_TRIGG_DIST: camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters); break; #endif #if MOUNT == ENABLED // Sets the region of interest (ROI) for a sensor set or the // vehicle itself. This can then be used by the vehicles control // system to control the vehicle attitude and the attitude of various // devices such as cameras. // |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| 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 (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { camera_mount.set_mode_to_default(); } } else { // send the command to the camera mount camera_mount.set_roi_target(cmd.content.location); } break; #endif 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 // 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 static void exit_mission() { if (control_mode == AUTO) { gcs_send_text_fmt(PSTR("No commands. Can't set AUTO - setting HOLD")); set_mode(HOLD); } } /********************************************************************************/ // Verify command Handlers // Returns true if command complete /********************************************************************************/ static bool verify_command(const AP_Mission::Mission_Command& cmd) { // exit immediately if not in AUTO mode // we return true or we will continue to be called by ap-mission if (control_mode != AUTO) { return true; } 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_CONDITION_DELAY: return verify_wait_delay(); break; case MAV_CMD_CONDITION_DISTANCE: return verify_within_distance(); break; default: if (cmd.id > MAV_CMD_CONDITION_LAST) { // this is a command that doesn't require verify return true; } gcs_send_text_P(SEVERITY_HIGH,PSTR("verify_conditon: Unsupported command")); return true; break; } return false; } /********************************************************************************/ // Nav (Must) commands /********************************************************************************/ static void do_RTL(void) { prev_WP = current_loc; control_mode = RTL; next_WP = home; } static void do_nav_wp(const AP_Mission::Mission_Command& cmd) { set_next_WP(cmd.content.location); } /********************************************************************************/ // Verify Nav (Must) commands /********************************************************************************/ static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd) { if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) { gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), (unsigned)cmd.index, (unsigned)get_distance(current_loc, next_WP)); return true; } // have we gone past the waypoint? if (location_passed_point(current_loc, prev_WP, next_WP)) { gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), (unsigned)cmd.index, (unsigned)get_distance(current_loc, next_WP)); return true; } return false; } static bool verify_RTL() { if (wp_distance <= g.waypoint_radius) { gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home")); rtl_complete = true; return true; } // have we gone past the waypoint? if (location_passed_point(current_loc, prev_WP, next_WP)) { gcs_send_text_fmt(PSTR("Reached Home dist %um"), (unsigned)get_distance(current_loc, next_WP)); return true; } return false; } /********************************************************************************/ // Condition (May) commands /********************************************************************************/ static void do_wait_delay(const AP_Mission::Mission_Command& cmd) { condition_start = millis(); condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds } static void do_within_distance(const AP_Mission::Mission_Command& cmd) { condition_value = cmd.content.distance.meters; } /********************************************************************************/ // Verify Condition (May) commands /********************************************************************************/ static bool verify_wait_delay() { if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){ condition_value = 0; return true; } return false; } static bool verify_within_distance() { if (wp_distance < condition_value){ condition_value = 0; return true; } return false; } /********************************************************************************/ // Do (Now) commands /********************************************************************************/ static void do_change_speed(const AP_Mission::Mission_Command& cmd) { switch (cmd.p1) { case 0: if (cmd.content.speed.target_ms > 0) { g.speed_cruise.set(cmd.content.speed.target_ms); gcs_send_text_fmt(PSTR("Cruise speed: %.1f m/s"), (double)g.speed_cruise.get()); } break; } if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) { g.throttle_cruise.set(cmd.content.speed.throttle_pct); gcs_send_text_fmt(PSTR("Cruise throttle: %.1f"), g.throttle_cruise.get()); } } static void do_set_home(const AP_Mission::Mission_Command& cmd) { if(cmd.p1 == 1 && have_position) { init_home(); } else { ahrs.set_home(cmd.content.location); home_is_set = true; } } // do_digicam_configure Send Digicam Configure message with the camera library static void do_digicam_configure(const AP_Mission::Mission_Command& cmd) { #if CAMERA == ENABLED camera.configure_cmd(cmd); #endif } // do_digicam_control Send Digicam Control message with the camera library static void do_digicam_control(const AP_Mission::Mission_Command& cmd) { #if CAMERA == ENABLED camera.control_cmd(cmd); log_picture(); #endif } // do_take_picture - take a picture with the camera library static void do_take_picture() { #if CAMERA == ENABLED camera.trigger_pic(true); log_picture(); #endif } // log_picture - log picture taken and send feedback to GCS static void log_picture() { gcs_send_message(MSG_CAMERA_FEEDBACK); if (should_log(MASK_LOG_CAMERA)) { DataFlash.Log_Write_Camera(ahrs, gps, current_loc); } }