/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /********************************************************************************/ // Command Event Handlers /********************************************************************************/ 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 yaw_mode = YAW_HOLD; 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_loiter_turns(); break; case MAV_CMD_NAV_LOITER_TIME: // 19 do_loiter_time(); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: //20 do_RTL(); 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; case MAV_CMD_DO_SET_ROI: // 201 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() { switch(command_nav_queue.id) { case MAV_CMD_NAV_TAKEOFF: return verify_takeoff(); break; case MAV_CMD_NAV_LAND: if(g.sonar_enabled == true){ return verify_land_sonar(); }else{ return verify_land_baro(); } 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_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; } } /********************************************************************************/ // /********************************************************************************/ 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); // We want to come home and stop on a dime slow_wp = true; // 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; // command_nav_queue.alt is a relative altitude!!! if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) { temp.alt = command_nav_queue.alt + home.alt; //Serial.printf("rel alt: %ld",temp.alt); } else { temp.alt = command_nav_queue.alt; //Serial.printf("abs alt: %ld",temp.alt); } // prevent flips reset_I_all(); // Set our waypoint set_next_WP(&temp); } static void do_nav_wp() { wp_control = WP_MODE; // command_nav_queue.alt is a relative altitude!!! if (command_nav_queue.options & MASK_OPTIONS_RELATIVE_ALT) { command_nav_queue.alt += home.alt; } set_next_WP(&command_nav_queue); // 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 = command_nav_queue.p1 * 1000; // if we don't require an altitude minimum, we save this flag as passed (1) if((next_WP.options & MASK_OPTIONS_RELATIVE_ALT) == 0){ // we don't need to worry about it wp_verify_byte |= NAV_ALTITUDE; } } static void do_land() { wp_control = LOITER_MODE; // just to make sure land_complete = false; // landing boost lowers the main throttle to mimmick // the effect of a user's hand landing_boost = 0; // A counter that goes up if our climb rate stalls out. ground_detector = 0; // hold at our current location set_next_WP(¤t_loc); // Set a new target altitude very low, incase we are landing on a hill! set_new_altitude(-1000); } static void do_approach() { uint16_t target_alt = (uint16_t)(constrain((float)g.rtl_approach_alt, 1, 10) * 100); // Make sure we are not using this to land and that we are currently above the target approach alt if(g.rtl_approach_alt >= 1 && current_loc.alt > target_alt){ wp_control = LOITER_MODE; // just to make sure land_complete = false; // landing boost lowers the main throttle to mimmick // the effect of a user's hand landing_boost = 0; // A counter that goes up if our climb rate stalls out. ground_detector = 0; // hold at our current location set_next_WP(¤t_loc); // Set target alt based on user setting set_new_altitude(target_alt); } else { set_mode(LOITER); } } static void do_loiter_unlimited() { wp_control = LOITER_MODE; //Serial.println("dloi "); if(command_nav_queue.lat == 0) set_next_WP(¤t_loc); else set_next_WP(&command_nav_queue); } static void do_loiter_turns() { wp_control = CIRCLE_MODE; // reset desired location if(command_nav_queue.lat == 0){ // allow user to specify just the altitude if(command_nav_queue.alt > 0){ current_loc.alt = command_nav_queue.alt; } set_next_WP(¤t_loc); }else{ set_next_WP(&command_nav_queue); } loiter_total = command_nav_queue.p1 * 360; loiter_sum = 0; old_target_bearing = target_bearing; circle_angle = target_bearing + 18000; circle_angle = wrap_360(circle_angle); circle_angle *= RADX100; } static void do_loiter_time() { if(command_nav_queue.lat == 0){ wp_control = LOITER_MODE; loiter_time = millis(); set_next_WP(¤t_loc); }else{ wp_control = WP_MODE; set_next_WP(&command_nav_queue); } loiter_time_max = command_nav_queue.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; } // are we above our target altitude? //return (current_loc.alt > next_WP.alt); return (current_loc.alt > target_altitude); } // called at 10hz static bool verify_land_sonar() { static float icount = 1; if(current_loc.alt > 300){ wp_control = LOITER_MODE; icount = 1; ground_detector = 0; }else{ // begin to pull down on the throttle landing_boost++; landing_boost = min(landing_boost, 40); } if(current_loc.alt < 200 ){ wp_control = NO_NAV_MODE; } if(current_loc.alt < 150 ){ //rapid throttle reduction //int16_t lb = (1.75 * icount * icount) - (7.2 * icount); //icount++; //lb = constrain(lb, 0, 180); //landing_boost += lb; //Serial.printf("%0.0f, %d, %d, %d\n", icount, current_loc.alt, landing_boost, lb); // if we are low or don't seem to be decending much, increment ground detector if(current_loc.alt < 40 || abs(climb_rate) < 20) { landing_boost++; // reduce the throttle at twice the normal rate if(ground_detector++ >= 30) { land_complete = true; ground_detector = 30; icount = 1; if(g.rc_3.control_in == 0){ // init disarm motors init_disarm_motors(); } return true; } } } return false; } static bool verify_land_baro() { if(current_loc.alt > 300){ wp_control = LOITER_MODE; ground_detector = 0; }else{ // begin to pull down on the throttle landing_boost++; landing_boost = min(landing_boost, 40); } if(current_loc.alt < 200 ){ wp_control = NO_NAV_MODE; } if(current_loc.alt < 150 ){ if(abs(climb_rate) < 20) { landing_boost++; if(ground_detector++ >= 30) { land_complete = true; ground_detector = 30; if(g.rc_3.control_in == 0){ // init disarm motors init_disarm_motors(); } return true; } } } return false; } static bool verify_nav_wp() { // Altitude checking if(next_WP.options & MASK_OPTIONS_RELATIVE_ALT){ // we desire a certain minimum altitude //if (current_loc.alt > next_WP.alt){ if (current_loc.alt > target_altitude){ // 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_nav_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() { //Serial.printf("loiter_sum: %d \n", loiter_sum); // 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() { // loiter at the WP wp_control = WP_MODE; // Did we pass the WP? // Distance checking if((wp_distance <= g.waypoint_radius) || check_missed_wp()){ wp_control = LOITER_MODE; //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 = command_cond_queue.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 = command_cond_queue.alt; temp.alt = command_cond_queue.alt; set_next_WP(&temp); } static void do_within_distance() { condition_value = command_cond_queue.lat * 100; } 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 = command_cond_queue.p1; // 1 = clockwise, 0 = counterclockwise command_yaw_speed = command_cond_queue.lat * 100; // ms * 100 command_yaw_relative = command_cond_queue.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 = command_cond_queue.alt * 100; }else{ // absolute command_yaw_end = command_cond_queue.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) > (unsigned)condition_value){ //Serial.println("y"); condition_value = 0; return true; } //Serial.println("n"); return false; } static bool verify_change_alt() { //Serial.printf("change_alt, ca:%d, na:%d\n", (int)current_loc.alt, (int)next_WP.alt); if ((int32_t)condition_start < next_WP.alt){ // we are going higer if(current_loc.alt > next_WP.alt){ return true; } }else{ // we are going lower if(current_loc.alt < next_WP.alt){ return true; } } return false; } static bool verify_within_distance() { //Serial.printf("cond dist :%d\n", (int)condition_value); if (wp_distance < condition_value){ condition_value = 0; return true; } return false; } static bool verify_yaw() { //Serial.printf("vyaw %d\n", (int)(nav_yaw/100)); 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 = command_cond_queue.p1 * 100; } static void do_target_yaw() { yaw_tracking = command_cond_queue.p1; if(yaw_tracking == MAV_ROI_LOCATION){ target_WP = command_cond_queue; } } static void do_loiter_at_location() { next_WP = current_loc; } 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 //Serial.printf("do Jump: %d\n", jump); if(jump == -10){ //Serial.printf("Fresh Jump\n"); // we use a locally stored index for jump jump = command_cond_queue.lat; } //Serial.printf("Jumps left: %d\n",jump); if(jump > 0) { //Serial.printf("Do Jump to %d\n",command_cond_queue.p1); jump--; change_command(command_cond_queue.p1); } else if (jump == 0){ //Serial.printf("Did last jump\n"); // we're done, move along jump = -11; } else if (jump == -1) { //Serial.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 = max(command_cond_queue.alt, 0); home_is_set = true; } } static void do_set_servo() { APM_RC.OutputCh(command_cond_queue.p1 - 1, 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 * 500.0; // /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 * 500.0; // /2 (half cycle time) * 1000 (convert to milliseconds) event_repeat = command_cond_queue.alt * 2; update_events(); }