// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// @file AP_Mission.cpp /// @brief Handles the MAVLINK command mission stack. Reads and writes mission to storage. #include "AP_Mission.h" #include const AP_Param::GroupInfo AP_Mission::var_info[] = { // @Param: TOTAL // @DisplayName: Total mission commands // @Description: The number of mission mission items that has been loaded by the ground station. Do not change this manually. // @Range: 0 32766 // @Increment: 1 // @User: Advanced AP_GROUPINFO("TOTAL", 0, AP_Mission, _cmd_total, 0), // @Param: RESTART // @DisplayName: Mission Restart when entering Auto mode // @Description: Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run) // @Values: 0:Resume Mission, 1:Restart Mission AP_GROUPINFO("RESTART", 1, AP_Mission, _restart, AP_MISSION_RESTART_DEFAULT), AP_GROUPEND }; extern const AP_HAL::HAL& hal; // storage object StorageAccess AP_Mission::_storage(StorageManager::StorageMission); /// /// public mission methods /// /// init - initialises this library including checks the version in eeprom matches this library void AP_Mission::init() { // check_eeprom_version - checks version of missions stored in eeprom matches this library // command list will be cleared if they do not match check_eeprom_version(); // prevent an easy programming error, this will be optimised out if (sizeof(union Content) != 12) { AP_HAL::panic("AP_Mission Content must be 12 bytes"); } _last_change_time_ms = AP_HAL::millis(); } /// start - resets current commands to point to the beginning of the mission /// To-Do: should we validate the mission first and return true/false? void AP_Mission::start() { _flags.state = MISSION_RUNNING; reset(); // reset mission to the first command, resets jump tracking // advance to the first command if (!advance_current_nav_cmd()) { // on failure set mission complete complete(); } } /// stop - stops mission execution. subsequent calls to update() will have no effect until the mission is started or resumed void AP_Mission::stop() { _flags.state = MISSION_STOPPED; } /// resume - continues the mission execution from where we last left off /// previous running commands will be re-initialised void AP_Mission::resume() { // if mission had completed then start it from the first command if (_flags.state == MISSION_COMPLETE) { start(); return; } // if mission had stopped then restart it if (_flags.state == MISSION_STOPPED) { _flags.state = MISSION_RUNNING; // if no valid nav command index restart from beginning if (_nav_cmd.index == AP_MISSION_CMD_INDEX_NONE) { start(); return; } } // ensure cache coherence // don't bother checking if the read is successful. If it fails _nav_cmd // won't change and we'll continue flying the old cached command. read_cmd_from_storage(_nav_cmd.index, _nav_cmd); // restart active navigation command. We run these on resume() // regardless of whether the mission was stopped, as we may be // re-entering AUTO mode and the nav_cmd callback needs to be run // to setup the current target waypoint // Note: if there is no active command then the mission must have been stopped just after the previous nav command completed // update will take care of finding and starting the nav command if (_flags.nav_cmd_loaded) { _cmd_start_fn(_nav_cmd); } // restart active do command if (_flags.do_cmd_loaded && _do_cmd.index != AP_MISSION_CMD_INDEX_NONE) { _cmd_start_fn(_do_cmd); } } /// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start() void AP_Mission::start_or_resume() { if (_restart) { start(); } else { resume(); } } /// reset - reset mission to the first command void AP_Mission::reset() { _flags.nav_cmd_loaded = false; _flags.do_cmd_loaded = false; _flags.do_cmd_all_done = false; _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE; _prev_nav_cmd_wp_index = AP_MISSION_CMD_INDEX_NONE; init_jump_tracking(); } /// clear - clears out mission /// returns true if mission was running so it could not be cleared bool AP_Mission::clear() { // do not allow clearing the mission while it is running if (_flags.state == MISSION_RUNNING) { return false; } // remove all commands _cmd_total.set_and_save(0); // clear index to commands _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _flags.nav_cmd_loaded = false; _flags.do_cmd_loaded = false; // return success return true; } /// trucate - truncate any mission items beyond index void AP_Mission::truncate(uint16_t index) { if ((unsigned)_cmd_total > index) { _cmd_total.set_and_save(index); } } /// update - ensures the command queues are loaded with the next command and calls main programs command_init and command_verify functions to progress the mission /// should be called at 10hz or higher void AP_Mission::update() { // exit immediately if not running or no mission commands if (_flags.state != MISSION_RUNNING || _cmd_total == 0) { return; } // check if we have an active nav command if (!_flags.nav_cmd_loaded || _nav_cmd.index == AP_MISSION_CMD_INDEX_NONE) { // advance in mission if no active nav command if (!advance_current_nav_cmd()) { // failure to advance nav command means mission has completed complete(); return; } }else{ // run the active nav command if (_cmd_verify_fn(_nav_cmd)) { // market _nav_cmd as complete (it will be started on the next iteration) _flags.nav_cmd_loaded = false; // immediately advance to the next mission command if (!advance_current_nav_cmd()) { // failure to advance nav command means mission has completed complete(); return; } } } // check if we have an active do command if (!_flags.do_cmd_loaded) { advance_current_do_cmd(); }else{ // run the active do command if (_cmd_verify_fn(_do_cmd)) { // market _nav_cmd as complete (it will be started on the next iteration) _flags.do_cmd_loaded = false; } } } /// /// public command methods /// /// add_cmd - adds a command to the end of the command list and writes to storage /// returns true if successfully added, false on failure /// cmd.index is updated with it's new position in the mission bool AP_Mission::add_cmd(Mission_Command& cmd) { // attempt to write the command to storage bool ret = write_cmd_to_storage(_cmd_total, cmd); if (ret) { // update command's index cmd.index = _cmd_total; // increment total number of commands _cmd_total.set_and_save(_cmd_total + 1); } return ret; } /// replace_cmd - replaces the command at position 'index' in the command list with the provided cmd /// replacing the current active command will have no effect until the command is restarted /// returns true if successfully replaced, false on failure bool AP_Mission::replace_cmd(uint16_t index, Mission_Command& cmd) { // sanity check index if (index >= (unsigned)_cmd_total) { return false; } // attempt to write the command to storage return write_cmd_to_storage(index, cmd); } /// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command bool AP_Mission::is_nav_cmd(const Mission_Command& cmd) { return (cmd.id <= MAV_CMD_NAV_LAST); } /// get_next_nav_cmd - gets next "navigation" command found at or after start_index /// returns true if found, false if not found (i.e. reached end of mission command list) /// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this) bool AP_Mission::get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd) { uint16_t cmd_index = start_index; // search until the end of the mission command list while(cmd_index < (unsigned)_cmd_total) { // get next command if (!get_next_cmd(cmd_index, cmd, false)) { // no more commands so return failure return false; }else{ // if found a "navigation" command then return it if (is_nav_cmd(cmd)) { return true; }else{ // move on in list cmd_index++; } } } // if we got this far we did not find a navigation command return false; } /// get the ground course of the next navigation leg in centidegrees /// from 0 36000. Return default_angle if next navigation /// leg cannot be determined int32_t AP_Mission::get_next_ground_course_cd(int32_t default_angle) { Mission_Command cmd; if (!get_next_nav_cmd(_nav_cmd.index+1, cmd)) { return default_angle; } return get_bearing_cd(_nav_cmd.content.location, cmd.content.location); } // set_current_cmd - jumps to command specified by index bool AP_Mission::set_current_cmd(uint16_t index) { Mission_Command cmd; // sanity check index and that we have a mission if (index >= (unsigned)_cmd_total || _cmd_total == 1) { return false; } // stop the current running do command _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _flags.do_cmd_loaded = false; _flags.do_cmd_all_done = false; // stop current nav cmd _flags.nav_cmd_loaded = false; // if index is zero then the user wants to completely restart the mission if (index == 0 || _flags.state == MISSION_COMPLETE) { _prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE; _prev_nav_cmd_wp_index = AP_MISSION_CMD_INDEX_NONE; // reset the jump tracking to zero init_jump_tracking(); if (index == 0) { index = 1; } } // if the mission is stopped or completed move the nav_cmd index to the specified point and set the state to stopped // so that if the user resumes the mission it will begin at the specified index if (_flags.state != MISSION_RUNNING) { // search until we find next nav command or reach end of command list while (!_flags.nav_cmd_loaded) { // get next command if (!get_next_cmd(index, cmd, true)) { _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE; return false; } // check if navigation or "do" command if (is_nav_cmd(cmd)) { // set current navigation command _nav_cmd = cmd; _flags.nav_cmd_loaded = true; }else{ // set current do command if (!_flags.do_cmd_loaded) { _do_cmd = cmd; _flags.do_cmd_loaded = true; } } // move onto next command index = cmd.index+1; } // if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes if (!_flags.do_cmd_loaded) { _flags.do_cmd_all_done = true; } // if we got this far then the mission can safely be "resumed" from the specified index so we set the state to "stopped" _flags.state = MISSION_STOPPED; return true; } // the state must be MISSION_RUNNING // search until we find next nav command or reach end of command list while (!_flags.nav_cmd_loaded) { // get next command if (!get_next_cmd(index, cmd, true)) { // if we run out of nav commands mark mission as complete complete(); // return true because we did what was requested // which was apparently to jump to a command at the end of the mission return true; } // check if navigation or "do" command if (is_nav_cmd(cmd)) { // save previous nav command index _prev_nav_cmd_index = _nav_cmd.index; // save separate previous nav command index if it contains lat,long,alt if (!(cmd.content.location.lat == 0 && cmd.content.location.lng == 0)) { _prev_nav_cmd_wp_index = _nav_cmd.index; } // set current navigation command and start it _nav_cmd = cmd; _flags.nav_cmd_loaded = true; _cmd_start_fn(_nav_cmd); }else{ // set current do command and start it (if not already set) if (!_flags.do_cmd_loaded) { _do_cmd = cmd; _flags.do_cmd_loaded = true; _cmd_start_fn(_do_cmd); } } // move onto next command index = cmd.index+1; } // if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes if (!_flags.do_cmd_loaded) { _flags.do_cmd_all_done = true; } // if we got this far we must have successfully advanced the nav command return true; } /// load_cmd_from_storage - load command from storage /// true is return if successful bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const { // exit immediately if index is beyond last command but we always let cmd #0 (i.e. home) be read if (index > (unsigned)_cmd_total && index != 0) { return false; } // special handling for command #0 which is home if (index == 0) { cmd.index = 0; cmd.id = MAV_CMD_NAV_WAYPOINT; cmd.p1 = 0; cmd.content.location = _ahrs.get_home(); }else{ // Find out proper location in memory by using the start_byte position + the index // we can load a command, we don't process it yet // read WP position uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE); cmd.id = _storage.read_byte(pos_in_storage); cmd.p1 = _storage.read_uint16(pos_in_storage+1); _storage.read_block(cmd.content.bytes, pos_in_storage+3, 12); // set command's index to it's position in eeprom cmd.index = index; } // return success return true; } /// write_cmd_to_storage - write a command to storage /// index is used to calculate the storage location /// true is returned if successful bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd) { // range check cmd's index if (index >= num_commands_max()) { return false; } // calculate where in storage the command should be placed uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE); _storage.write_byte(pos_in_storage, cmd.id); _storage.write_uint16(pos_in_storage+1, cmd.p1); _storage.write_block(pos_in_storage+3, cmd.content.bytes, 12); // remember when the mission last changed _last_change_time_ms = AP_HAL::millis(); // return success return true; } /// write_home_to_storage - writes the special purpose cmd 0 (home) to storage /// home is taken directly from ahrs void AP_Mission::write_home_to_storage() { Mission_Command home_cmd = {}; home_cmd.id = MAV_CMD_NAV_WAYPOINT; home_cmd.content.location = _ahrs.get_home(); write_cmd_to_storage(0,home_cmd); } // mavlink_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom // return true on success, false on failure bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd) { bool copy_location = false; bool copy_alt = false; uint8_t num_turns, radius_m; // used by MAV_CMD_NAV_LOITER_TURNS & _TO_ALT uint8_t heading_req; // used by MAV_CMD_NAV_LOITER_TO_ALT // command's position in mission list and mavlink id cmd.index = packet.seq; cmd.id = packet.command; cmd.content.location.options = 0; // command specific conversions from mavlink packet to mission command switch (cmd.id) { case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16 copy_location = true; /* the 15 byte limit means we can't fit both delay and radius in the cmd structure. When we expand the mission structure we can do this properly */ #if APM_BUILD_TYPE(APM_BUILD_ArduPlane) // acceptance radius in meters cmd.p1 = packet.param2; #else // delay at waypoint in seconds cmd.p1 = packet.param1; #endif break; case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17 copy_location = true; cmd.content.location.flags.loiter_ccw = (packet.param3 < 0); // -1 = counter clockwise, +1 = clockwise break; case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18 copy_location = true; num_turns = packet.param1; // number of times to circle is held in param1 radius_m = fabsf(packet.param3); // radius in meters is held in high in param3 cmd.p1 = (((uint16_t)radius_m)<<8) | (uint16_t)num_turns; // store radius in high byte of p1, num turns in low byte of p1 cmd.content.location.flags.loiter_ccw = (packet.param3 < 0); break; case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19 copy_location = true; cmd.p1 = packet.param1; // loiter time in seconds cmd.content.location.flags.loiter_ccw = (packet.param3 < 0); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20 copy_location = true; break; case MAV_CMD_NAV_LAND: // MAV ID: 21 copy_location = true; cmd.p1 = packet.param1; // abort target altitude(m) (plane only) break; case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22 copy_location = true; // only altitude is used cmd.p1 = packet.param1; // minimum pitch (plane only) break; case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30 copy_location = true; // lat/lng used for heading lock cmd.p1 = packet.param1; // Climb/Descend // 0 = Neutral, cmd complete at +/- 5 of indicated alt. // 1 = Climb, cmd complete at or above indicated alt. // 2 = Descend, cmd complete at or below indicated alt. break; case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31 copy_location = true; heading_req = packet.param1; //heading towards next waypoint required (0 = False) cmd.content.location.flags.loiter_ccw = (packet.param2 < 0); //Don't give users the impression I can set the radius size. //I can only set the direction at this time and so can every //other command, despite what is implied (I'm looking at YOU //NAV_LOITER_TURNS): radius_m = 1; cmd.p1 = (((uint16_t)radius_m)<<8) | (uint16_t)heading_req; // store "radius" in high byte of p1, heading_req in low byte of p1 break; case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82 copy_location = true; cmd.p1 = packet.param1; // delay at waypoint in seconds break; case MAV_CMD_NAV_GUIDED_ENABLE: // MAV ID: 92 cmd.p1 = packet.param1; // on/off. >0.5 means "on", hand-over control to external controller break; case MAV_CMD_CONDITION_DELAY: // MAV ID: 112 cmd.content.delay.seconds = packet.param1; // delay in seconds break; case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113 copy_alt = true; // only altitude is used cmd.content.location.lat = packet.param1 * 100; // climb/descent converted from m/s to cm/s. To-Do: store in proper climb_rate structure break; case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114 cmd.content.distance.meters = packet.param1; // distance in meters from next waypoint break; case MAV_CMD_CONDITION_YAW: // MAV ID: 115 cmd.content.yaw.angle_deg = packet.param1; // target angle in degrees cmd.content.yaw.turn_rate_dps = packet.param2; // 0 = use default turn rate otherwise specific turn rate in deg/sec cmd.content.yaw.direction = packet.param3; // -1 = ccw, +1 = cw cmd.content.yaw.relative_angle = packet.param4; // lng=0: absolute angle provided, lng=1: relative angle provided break; case MAV_CMD_DO_SET_MODE: // MAV ID: 176 cmd.p1 = packet.param1; // flight mode identifier break; case MAV_CMD_DO_JUMP: // MAV ID: 177 cmd.content.jump.target = packet.param1; // jump-to command number cmd.content.jump.num_times = packet.param2; // repeat count break; case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178 cmd.content.speed.speed_type = packet.param1; // 0 = airspeed, 1 = ground speed cmd.content.speed.target_ms = packet.param2; // target speed in m/s cmd.content.speed.throttle_pct = packet.param3; // throttle as a percentage from 0 ~ 100% break; case MAV_CMD_DO_SET_HOME: copy_location = true; cmd.p1 = packet.param1; // p1=0 means use current location, p=1 means use provided location break; case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180 cmd.p1 = packet.param1; // parameter number cmd.content.location.alt = packet.param2; // parameter value break; case MAV_CMD_DO_SET_RELAY: // MAV ID: 181 cmd.content.relay.num = packet.param1; // relay number cmd.content.relay.state = packet.param2; // 0:off, 1:on break; case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182 cmd.content.repeat_relay.num = packet.param1; // relay number cmd.content.repeat_relay.repeat_count = packet.param2; // count cmd.content.repeat_relay.cycle_time = packet.param3; // time converted from seconds to milliseconds break; case MAV_CMD_DO_SET_SERVO: // MAV ID: 183 cmd.content.servo.channel = packet.param1; // channel cmd.content.servo.pwm = packet.param2; // PWM break; case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184 cmd.content.repeat_servo.channel = packet.param1; // channel cmd.content.repeat_servo.pwm = packet.param2; // PWM cmd.content.repeat_servo.repeat_count = packet.param3; // count cmd.content.repeat_servo.cycle_time = packet.param4; // time in seconds break; case MAV_CMD_DO_LAND_START: // MAV ID: 189 copy_location = true; break; case MAV_CMD_DO_SET_ROI: // MAV ID: 201 copy_location = true; cmd.p1 = packet.param1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported) break; case MAV_CMD_DO_DIGICAM_CONFIGURE: // MAV ID: 202 cmd.content.digicam_configure.shooting_mode = packet.param1; cmd.content.digicam_configure.shutter_speed = packet.param2; cmd.content.digicam_configure.aperture = packet.param3; cmd.content.digicam_configure.ISO = packet.param4; cmd.content.digicam_configure.exposure_type = packet.x; cmd.content.digicam_configure.cmd_id = packet.y; cmd.content.digicam_configure.engine_cutoff_time = packet.z; break; case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203 cmd.content.digicam_control.session = packet.param1; cmd.content.digicam_control.zoom_pos = packet.param2; cmd.content.digicam_control.zoom_step = packet.param3; cmd.content.digicam_control.focus_lock = packet.param4; cmd.content.digicam_control.shooting_cmd = packet.x; cmd.content.digicam_control.cmd_id = packet.y; break; case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205 cmd.content.mount_control.pitch = packet.param1; cmd.content.mount_control.roll = packet.param2; cmd.content.mount_control.yaw = packet.param3; break; case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206 cmd.content.cam_trigg_dist.meters = packet.param1; // distance between camera shots in meters break; case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207 cmd.p1 = packet.param1; // action 0=disable, 1=enable break; case MAV_CMD_DO_PARACHUTE: // MAV ID: 208 cmd.p1 = packet.param1; // action 0=disable, 1=enable, 2=release. See PARACHUTE_ACTION enum break; case MAV_CMD_DO_INVERTED_FLIGHT: // MAV ID: 210 cmd.p1 = packet.param1; // normal=0 inverted=1 break; case MAV_CMD_DO_GRIPPER: // MAV ID: 211 cmd.content.gripper.num = packet.param1; // gripper number cmd.content.gripper.action = packet.param2; // action 0=release, 1=grab. See GRIPPER_ACTION enum break; case MAV_CMD_DO_GUIDED_LIMITS: // MAV ID: 222 cmd.p1 = packet.param1; // max time in seconds the external controller will be allowed to control the vehicle cmd.content.guided_limits.alt_min = packet.param2; // min alt below which the command will be aborted. 0 for no lower alt limit cmd.content.guided_limits.alt_max = packet.param3; // max alt above which the command will be aborted. 0 for no upper alt limit cmd.content.guided_limits.horiz_max = packet.param4;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit break; case MAV_CMD_DO_AUTOTUNE_ENABLE: // MAV ID: 211 cmd.p1 = packet.param1; // disable=0 enable=1 break; case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83 cmd.content.altitude_wait.altitude = packet.param1; cmd.content.altitude_wait.descent_rate = packet.param2; cmd.content.altitude_wait.wiggle_time = packet.param3; break; default: // unrecognised command return false; } // copy location from mavlink to command if (copy_location || copy_alt) { // sanity check location if (copy_location) { if (fabsf(packet.x) > 90.0f || fabsf(packet.y) > 180.0f) { return false; } } if (fabsf(packet.z) >= LOCATION_ALT_MAX_M) { return false; } switch (packet.frame) { case MAV_FRAME_MISSION: case MAV_FRAME_GLOBAL: if (copy_location) { cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t } cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm) cmd.content.location.flags.relative_alt = 0; break; case MAV_FRAME_GLOBAL_RELATIVE_ALT: if (copy_location) { cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t } cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm) cmd.content.location.flags.relative_alt = 1; break; #ifdef MAV_FRAME_LOCAL_NED case MAV_FRAME_LOCAL_NED: // local (relative to home position) if (copy_location) { cmd.content.location.lat = 1.0e7f*ToDeg(packet.x/ (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + _ahrs.get_home().lat; cmd.content.location.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + _ahrs.get_home().lng; } cmd.content.location.alt = -packet.z*1.0e2f; cmd.content.location.flags.relative_alt = 1; break; #endif #ifdef MAV_FRAME_LOCAL case MAV_FRAME_LOCAL: // local (relative to home position) if (copy_location) { cmd.content.location.lat = 1.0e7f*ToDeg(packet.x/ (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + _ahrs.get_home().lat; cmd.content.location.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + _ahrs.get_home().lng; } cmd.content.location.alt = packet.z*1.0e2f; cmd.content.location.flags.relative_alt = 1; break; #endif #if AP_TERRAIN_AVAILABLE case MAV_FRAME_GLOBAL_TERRAIN_ALT: if (copy_location) { cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t } cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm) // we mark it as a relative altitude, as it doesn't have // home alt added cmd.content.location.flags.relative_alt = 1; // mark altitude as above terrain, not above home cmd.content.location.flags.terrain_alt = 1; break; #endif default: return false; } } // if we got this far then it must have been succesful return true; } // mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS // return true on success, false on failure bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet) { bool copy_location = false; bool copy_alt = false; // command's position in mission list and mavlink id packet.seq = cmd.index; packet.command = cmd.id; // set defaults packet.current = 0; // 1 if we are passing back the mission command that is currently being executed packet.param1 = 0; packet.param2 = 0; packet.param3 = 0; packet.param4 = 0; packet.autocontinue = 1; // command specific conversions from mission command to mavlink packet switch (cmd.id) { case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16 copy_location = true; #if APM_BUILD_TYPE(APM_BUILD_ArduPlane) // acceptance radius in meters packet.param2 = cmd.p1; #else // delay at waypoint in seconds packet.param1 = cmd.p1; #endif break; case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17 copy_location = true; if (cmd.content.location.flags.loiter_ccw) { packet.param3 = -1; }else{ packet.param3 = 1; } break; case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18 copy_location = true; packet.param1 = LOWBYTE(cmd.p1); // number of times to circle is held in low byte of p1 packet.param3 = HIGHBYTE(cmd.p1); // radius is held in high byte of p1 if (cmd.content.location.flags.loiter_ccw) { packet.param3 = -packet.param3; } break; case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19 copy_location = true; packet.param1 = cmd.p1; // loiter time in seconds if (cmd.content.location.flags.loiter_ccw) { packet.param3 = -1; }else{ packet.param3 = 1; } break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20 copy_location = true; break; case MAV_CMD_NAV_LAND: // MAV ID: 21 copy_location = true; packet.param1 = cmd.p1; // abort target altitude(m) (plane only) break; case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22 copy_location = true; // only altitude is used packet.param1 = cmd.p1; // minimum pitch (plane only) break; case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30 copy_location = true; // lat/lng used for heading lock packet.param1 = cmd.p1; // Climb/Descend // 0 = Neutral, cmd complete at +/- 5 of indicated alt. // 1 = Climb, cmd complete at or above indicated alt. // 2 = Descend, cmd complete at or below indicated alt. break; case MAV_CMD_NAV_LOITER_TO_ALT: // MAV ID: 31 copy_location = true; packet.param1 = LOWBYTE(cmd.p1); //heading towards next waypoint required (0 = False) packet.param2 = HIGHBYTE(cmd.p1); //loiter radius(m) if (cmd.content.location.flags.loiter_ccw) { packet.param2 = -packet.param2; } break; case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82 copy_location = true; packet.param1 = cmd.p1; // delay at waypoint in seconds break; case MAV_CMD_NAV_GUIDED_ENABLE: // MAV ID: 92 packet.param1 = cmd.p1; // on/off. >0.5 means "on", hand-over control to external controller break; case MAV_CMD_CONDITION_DELAY: // MAV ID: 112 packet.param1 = cmd.content.delay.seconds; // delay in seconds break; case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113 copy_alt = true; // only altitude is used packet.param1 = cmd.content.location.lat / 100.0f; // climb/descent rate converted from cm/s to m/s. To-Do: store in proper climb_rate structure break; case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114 packet.param1 = cmd.content.distance.meters; // distance in meters from next waypoint break; case MAV_CMD_CONDITION_YAW: // MAV ID: 115 packet.param1 = cmd.content.yaw.angle_deg; // target angle in degrees packet.param2 = cmd.content.yaw.turn_rate_dps; // 0 = use default turn rate otherwise specific turn rate in deg/sec packet.param3 = cmd.content.yaw.direction; // -1 = ccw, +1 = cw packet.param4 = cmd.content.yaw.relative_angle; // 0 = absolute angle provided, 1 = relative angle provided break; case MAV_CMD_DO_SET_MODE: // MAV ID: 176 packet.param1 = cmd.p1; // set flight mode identifier break; case MAV_CMD_DO_JUMP: // MAV ID: 177 packet.param1 = cmd.content.jump.target; // jump-to command number packet.param2 = cmd.content.jump.num_times; // repeat count break; case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178 packet.param1 = cmd.content.speed.speed_type; // 0 = airspeed, 1 = ground speed packet.param2 = cmd.content.speed.target_ms; // speed in m/s packet.param3 = cmd.content.speed.throttle_pct; // throttle as a percentage from 0 ~ 100% break; case MAV_CMD_DO_SET_HOME: // MAV ID: 179 copy_location = true; packet.param1 = cmd.p1; // p1=0 means use current location, p=1 means use provided location break; case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180 packet.param1 = cmd.p1; // parameter number packet.param2 = cmd.content.location.alt; // parameter value break; case MAV_CMD_DO_SET_RELAY: // MAV ID: 181 packet.param1 = cmd.content.relay.num; // relay number packet.param2 = cmd.content.relay.state; // 0:off, 1:on break; case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182 packet.param1 = cmd.content.repeat_relay.num; // relay number packet.param2 = cmd.content.repeat_relay.repeat_count; // count packet.param3 = cmd.content.repeat_relay.cycle_time; // time in seconds break; case MAV_CMD_DO_SET_SERVO: // MAV ID: 183 packet.param1 = cmd.content.servo.channel; // channel packet.param2 = cmd.content.servo.pwm; // PWM break; case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184 packet.param1 = cmd.content.repeat_servo.channel; // channel packet.param2 = cmd.content.repeat_servo.pwm; // PWM packet.param3 = cmd.content.repeat_servo.repeat_count; // count packet.param4 = cmd.content.repeat_servo.cycle_time; // time in milliseconds converted to seconds break; case MAV_CMD_DO_LAND_START: // MAV ID: 189 copy_location = true; break; case MAV_CMD_DO_SET_ROI: // MAV ID: 201 copy_location = true; packet.param1 = cmd.p1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported) break; case MAV_CMD_DO_DIGICAM_CONFIGURE: // MAV ID: 202 packet.param1 = cmd.content.digicam_configure.shooting_mode; packet.param2 = cmd.content.digicam_configure.shutter_speed; packet.param3 = cmd.content.digicam_configure.aperture; packet.param4 = cmd.content.digicam_configure.ISO; packet.x = cmd.content.digicam_configure.exposure_type; packet.y = cmd.content.digicam_configure.cmd_id; packet.z = cmd.content.digicam_configure.engine_cutoff_time; break; case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203 packet.param1 = cmd.content.digicam_control.session; packet.param2 = cmd.content.digicam_control.zoom_pos; packet.param3 = cmd.content.digicam_control.zoom_step; packet.param4 = cmd.content.digicam_control.focus_lock; packet.x = cmd.content.digicam_control.shooting_cmd; packet.y = cmd.content.digicam_control.cmd_id; break; case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205 packet.param1 = cmd.content.mount_control.pitch; packet.param2 = cmd.content.mount_control.roll; packet.param3 = cmd.content.mount_control.yaw; break; case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206 packet.param1 = cmd.content.cam_trigg_dist.meters; // distance between camera shots in meters break; case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207 packet.param1 = cmd.p1; // action 0=disable, 1=enable break; case MAV_CMD_DO_PARACHUTE: // MAV ID: 208 packet.param1 = cmd.p1; // action 0=disable, 1=enable, 2=release. See PARACHUTE_ACTION enum break; case MAV_CMD_DO_INVERTED_FLIGHT: // MAV ID: 210 packet.param1 = cmd.p1; // normal=0 inverted=1 break; case MAV_CMD_DO_GRIPPER: // MAV ID: 211 packet.param1 = cmd.content.gripper.num; // gripper number packet.param2 = cmd.content.gripper.action; // action 0=release, 1=grab. See GRIPPER_ACTION enum break; case MAV_CMD_DO_GUIDED_LIMITS: // MAV ID: 222 packet.param1 = cmd.p1; // max time in seconds the external controller will be allowed to control the vehicle packet.param2 = cmd.content.guided_limits.alt_min; // min alt below which the command will be aborted. 0 for no lower alt limit packet.param3 = cmd.content.guided_limits.alt_max; // max alt above which the command will be aborted. 0 for no upper alt limit packet.param4 = cmd.content.guided_limits.horiz_max;// max horizontal distance the vehicle can move before the command will be aborted. 0 for no horizontal limit break; case MAV_CMD_DO_AUTOTUNE_ENABLE: packet.param1 = cmd.p1; // disable=0 enable=1 break; case MAV_CMD_NAV_ALTITUDE_WAIT: // MAV ID: 83 packet.param1 = cmd.content.altitude_wait.altitude; packet.param2 = cmd.content.altitude_wait.descent_rate; packet.param3 = cmd.content.altitude_wait.wiggle_time; break; default: // unrecognised command return false; } // copy location from mavlink to command if (copy_location) { packet.x = cmd.content.location.lat / 1.0e7f; // int32_t latitude to float packet.y = cmd.content.location.lng / 1.0e7f; // int32_t longitude to float } if (copy_location || copy_alt) { packet.z = cmd.content.location.alt / 100.0f; // cmd alt in cm to m if (cmd.content.location.flags.relative_alt) { packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; }else{ packet.frame = MAV_FRAME_GLOBAL; } #if AP_TERRAIN_AVAILABLE if (cmd.content.location.flags.terrain_alt) { // this is a above-terrain altitude if (!cmd.content.location.flags.relative_alt) { // refuse to return non-relative terrain mission // items. Internally we do have these, and they // have home.alt added, but we should never be // returning them to the GCS, as the GCS doesn't know // our home.alt, so it would have no way to properly // interpret it return false; } packet.z = cmd.content.location.alt * 0.01f; packet.frame = MAV_FRAME_GLOBAL_TERRAIN_ALT; } #else // don't ever return terrain mission items if no terrain support if (cmd.content.location.flags.terrain_alt) { return false; } #endif } // if we got this far then it must have been successful return true; } /// /// private methods /// /// complete - mission is marked complete and clean-up performed including calling the mission_complete_fn void AP_Mission::complete() { // flag mission as complete _flags.state = MISSION_COMPLETE; // callback to main program's mission complete function _mission_complete_fn(); } /// advance_current_nav_cmd - moves current nav command forward /// do command will also be loaded /// accounts for do-jump commands // returns true if command is advanced, false if failed (i.e. mission completed) bool AP_Mission::advance_current_nav_cmd() { Mission_Command cmd; uint16_t cmd_index; // exit immediately if we're not running if (_flags.state != MISSION_RUNNING) { return false; } // exit immediately if current nav command has not completed if (_flags.nav_cmd_loaded) { return false; } // stop the current running do command _do_cmd.index = AP_MISSION_CMD_INDEX_NONE; _flags.do_cmd_loaded = false; _flags.do_cmd_all_done = false; // get starting point for search cmd_index = _nav_cmd.index; if (cmd_index == AP_MISSION_CMD_INDEX_NONE) { // start from beginning of the mission command list cmd_index = AP_MISSION_FIRST_REAL_COMMAND; }else{ // start from one position past the current nav command cmd_index++; } // avoid endless loops uint8_t max_loops = 255; // search until we find next nav command or reach end of command list while (!_flags.nav_cmd_loaded) { // get next command if (!get_next_cmd(cmd_index, cmd, true)) { return false; } // check if navigation or "do" command if (is_nav_cmd(cmd)) { // save previous nav command index _prev_nav_cmd_index = _nav_cmd.index; // save separate previous nav command index if it contains lat,long,alt if (!(cmd.content.location.lat == 0 && cmd.content.location.lng == 0)) { _prev_nav_cmd_wp_index = _nav_cmd.index; } // set current navigation command and start it _nav_cmd = cmd; _flags.nav_cmd_loaded = true; _cmd_start_fn(_nav_cmd); }else{ // set current do command and start it (if not already set) if (!_flags.do_cmd_loaded) { _do_cmd = cmd; _flags.do_cmd_loaded = true; _cmd_start_fn(_do_cmd); } else { // protect against endless loops of do-commands if (max_loops-- == 0) { return false; } } } // move onto next command cmd_index = cmd.index+1; } // if we have not found a do command then set flag to show there are no do-commands to be run before nav command completes if (!_flags.do_cmd_loaded) { _flags.do_cmd_all_done = true; } // if we got this far we must have successfully advanced the nav command return true; } /// advance_current_do_cmd - moves current do command forward /// accounts for do-jump commands void AP_Mission::advance_current_do_cmd() { Mission_Command cmd; uint16_t cmd_index; // exit immediately if we're not running or we've completed all possible "do" commands if (_flags.state != MISSION_RUNNING || _flags.do_cmd_all_done) { return; } // get starting point for search cmd_index = _do_cmd.index; if (cmd_index == AP_MISSION_CMD_INDEX_NONE) { cmd_index = AP_MISSION_FIRST_REAL_COMMAND; }else{ // start from one position past the current do command cmd_index++; } // check if we've reached end of mission if (cmd_index >= (unsigned)_cmd_total) { // set flag to stop unnecessarily searching for do commands _flags.do_cmd_all_done = true; return; } // find next do command if (get_next_do_cmd(cmd_index, cmd)) { // set current do command and start it _do_cmd = cmd; _flags.do_cmd_loaded = true; _cmd_start_fn(_do_cmd); }else{ // set flag to stop unnecessarily searching for do commands _flags.do_cmd_all_done = true; } } /// get_next_cmd - gets next command found at or after start_index /// returns true if found, false if not found (i.e. mission complete) /// accounts for do_jump commands /// increment_jump_num_times_if_found should be set to true if advancing the active navigation command bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool increment_jump_num_times_if_found) { uint16_t cmd_index = start_index; Mission_Command temp_cmd; uint16_t jump_index = AP_MISSION_CMD_INDEX_NONE; // search until the end of the mission command list uint8_t max_loops = 64; while(cmd_index < (unsigned)_cmd_total) { // load the next command if (!read_cmd_from_storage(cmd_index, temp_cmd)) { // this should never happen because of check above but just in case return false; } // check for do-jump command if (temp_cmd.id == MAV_CMD_DO_JUMP) { if (max_loops-- == 0) { return false; } // check for invalid target if ((temp_cmd.content.jump.target >= (unsigned)_cmd_total) || (temp_cmd.content.jump.target == 0)) { // To-Do: log an error? return false; } // check for endless loops if (!increment_jump_num_times_if_found && jump_index == cmd_index) { // we have somehow reached this jump command twice and there is no chance it will complete // To-Do: log an error? return false; } // record this command so we can check for endless loops if (jump_index == AP_MISSION_CMD_INDEX_NONE) { jump_index = cmd_index; } // check if jump command is 'repeat forever' if (temp_cmd.content.jump.num_times == AP_MISSION_JUMP_REPEAT_FOREVER) { // continue searching from jump target cmd_index = temp_cmd.content.jump.target; }else{ // get number of times jump command has already been run int16_t jump_times_run = get_jump_times_run(temp_cmd); if (jump_times_run < temp_cmd.content.jump.num_times) { // update the record of the number of times run if (increment_jump_num_times_if_found) { increment_jump_times_run(temp_cmd); } // continue searching from jump target cmd_index = temp_cmd.content.jump.target; }else{ // jump has been run specified number of times so move search to next command in mission cmd_index++; } } }else{ // this is a non-jump command so return it cmd = temp_cmd; return true; } } // if we got this far we did not find a navigation command return false; } /// get_next_do_cmd - gets next "do" or "conditional" command after start_index /// returns true if found, false if not found /// stops and returns false if it hits another navigation command before it finds the first do or conditional command /// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this) bool AP_Mission::get_next_do_cmd(uint16_t start_index, Mission_Command& cmd) { Mission_Command temp_cmd; // check we have not passed the end of the mission list if (start_index >= (unsigned)_cmd_total) { return false; } // get next command if (!get_next_cmd(start_index, temp_cmd, false)) { // no more commands so return failure return false; }else if (is_nav_cmd(temp_cmd)) { // if it's a "navigation" command then return false because we do not progress past nav commands return false; }else{ // this must be a "do" or "conditional" and is not a do-jump command so return it cmd = temp_cmd; return true; } } /// /// jump handling methods /// // init_jump_tracking - initialise jump_tracking variables void AP_Mission::init_jump_tracking() { for(uint8_t i=0; i= (unsigned)_cmd_total) || (cmd.content.jump.target == 0)) { // To-Do: log an error? return AP_MISSION_JUMP_TIMES_MAX; } // search through jump_tracking array for this cmd for (uint8_t i=0; i