// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* logic for dealing with the current command in the mission and home location
*/
static void init_commands()
{
g.command_index.set_and_save(0);
nav_command_ID = NO_COMMAND;
non_nav_command_ID = NO_COMMAND;
next_nav_command.id = CMD_BLANK;
nav_command_index = 0;
}
static void update_auto()
{
if (g.command_index >= g.command_total) {
handle_no_commands();
if(g.command_total == 0) {
next_WP.lat = home.lat + 1000; // so we don't have bad calcs
next_WP.lng = home.lng + 1000; // so we don't have bad calcs
}
} else {
if(g.command_index != 0) {
g.command_index = nav_command_index;
nav_command_index--;
}
nav_command_ID = NO_COMMAND;
non_nav_command_ID = NO_COMMAND;
next_nav_command.id = CMD_BLANK;
process_next_command();
}
}
/*
fetch a mission item from EEPROM
*/
static struct Location get_cmd_with_index_raw(int16_t i)
{
struct Location temp;
uint16_t mem;
// Find out proper location in memory by using the start_byte position + the index
// --------------------------------------------------------------------------------
if (i > g.command_total) {
memset(&temp, 0, sizeof(temp));
temp.id = CMD_BLANK;
}else{
// read WP position
mem = (WP_START_BYTE) + (i * WP_SIZE);
temp.id = hal.storage->read_byte(mem);
mem++;
temp.options = hal.storage->read_byte(mem);
mem++;
temp.p1 = hal.storage->read_byte(mem);
mem++;
temp.alt = hal.storage->read_dword(mem);
mem += 4;
temp.lat = hal.storage->read_dword(mem);
mem += 4;
temp.lng = hal.storage->read_dword(mem);
}
return temp;
}
/*
fetch a mission item from EEPROM. Adjust altitude to be absolute
*/
static struct Location get_cmd_with_index(int16_t i)
{
struct Location temp;
temp = get_cmd_with_index_raw(i);
// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
if ((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) &&
(temp.options & MASK_OPTIONS_RELATIVE_ALT) &&
(temp.lat != 0 || temp.lng != 0 || temp.alt != 0)) {
temp.alt += home.alt;
}
return temp;
}
// Setters
// -------
static void set_cmd_with_index(struct Location temp, int16_t i)
{
i = constrain_int16(i, 0, g.command_total.get());
uint16_t mem = WP_START_BYTE + (i * WP_SIZE);
// force home wp to absolute height
if (i == 0) {
temp.options &= ~(MASK_OPTIONS_RELATIVE_ALT);
}
// zero unused bits
temp.options &= (MASK_OPTIONS_RELATIVE_ALT | MASK_OPTIONS_LOITER_DIRECTION);
hal.storage->write_byte(mem, temp.id);
mem++;
hal.storage->write_byte(mem, temp.options);
mem++;
hal.storage->write_byte(mem, temp.p1);
mem++;
hal.storage->write_dword(mem, temp.alt);
mem += 4;
hal.storage->write_dword(mem, temp.lat);
mem += 4;
hal.storage->write_dword(mem, temp.lng);
}
static int32_t read_alt_to_hold()
{
if (g.RTL_altitude_cm < 0) {
return current_loc.alt;
}
return g.RTL_altitude_cm + home.alt;
}
/*
* This function stores waypoint commands
* It looks to see what the next command type is and finds the last command.
*/
static void set_next_WP(const struct Location *wp)
{
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = next_WP;
// Load the next_WP slot
// ---------------------
next_WP = *wp;
// if lat and lon is zero, then use current lat/lon
// this allows a mission to contain a "loiter on the spot"
// command
if (next_WP.lat == 0 && next_WP.lng == 0) {
next_WP.lat = current_loc.lat;
next_WP.lng = current_loc.lng;
// additionally treat zero altitude as current altitude
if (next_WP.alt == 0) {
next_WP.alt = current_loc.alt;
}
}
// are we already past the waypoint? This happens when we jump
// waypoints, and it can cause us to skip a waypoint. If we are
// past the waypoint when we start on a leg, then use the current
// location as the previous waypoint, to prevent immediately
// considering the waypoint complete
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Resetting prev_WP"));
prev_WP = current_loc;
}
// used to control FBW and limit the rate of climb
// -----------------------------------------------
target_altitude_cm = current_loc.alt;
// zero out our loiter vals to watch for missed waypoints
loiter_angle_reset();
setup_glide_slope();
loiter_angle_reset();
}
static void set_guided_WP(void)
{
if (g.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
}
// copy the current location into the OldWP slot
// ---------------------------------------
prev_WP = current_loc;
// Load the next_WP slot
// ---------------------
next_WP = guided_WP;
// used to control FBW and limit the rate of climb
// -----------------------------------------------
target_altitude_cm = current_loc.alt;
setup_glide_slope();
loiter_angle_reset();
}
// run this at setup on the ground
// -------------------------------
static void init_home()
{
gcs_send_text_P(SEVERITY_LOW, PSTR("init home"));
// block until we get a good fix
// -----------------------------
while (!g_gps->new_data || !g_gps->fix) {
g_gps->update();
#if HIL_MODE != HIL_MODE_DISABLED
// update hil gps so we have new_data
gcs_update();
#endif
}
home.id = MAV_CMD_NAV_WAYPOINT;
home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7
home.alt = max(g_gps->altitude_cm, 0);
home_is_set = true;
gcs_send_text_fmt(PSTR("gps alt: %lu"), (unsigned long)home.alt);
// Save Home to EEPROM - Command 0
// -------------------
set_cmd_with_index(home, 0);
// Save prev loc
// -------------
next_WP = prev_WP = home;
// Load home for a default guided_WP
// -------------
guided_WP = home;
guided_WP.alt += g.RTL_altitude_cm;
}
/*
update home location from GPS
this is called as long as we have 3D lock and the arming switch is
not pushed
*/
static void update_home()
{
home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7
home.alt = max(g_gps->altitude_cm, 0);
barometer.update_calibration();
}