/* Implementation details for transfering rally point information using the MISSION_ITEM protocol to and from a GCS. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #include "GCS_config.h" #include #if HAL_GCS_ENABLED && HAL_RALLY_ENABLED #include "MissionItemProtocol_Rally.h" #include #include #include #include MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_item_int_t &cmd) { RallyLocation rallyloc; const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc); if (ret != MAV_MISSION_ACCEPTED) { return ret; } if (!rally.append(rallyloc)) { return MAV_MISSION_ERROR; } return MAV_MISSION_ACCEPTED; } MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link) { #if HAL_LOGGING_ENABLED AP::logger().Write_Rally(); #endif return MAV_MISSION_ACCEPTED; } bool MissionItemProtocol_Rally::clear_all_items() { rally.truncate(0); return true; } MAV_MISSION_RESULT MissionItemProtocol_Rally::convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, RallyLocation &ret) { if (cmd.command != MAV_CMD_NAV_RALLY_POINT) { return MAV_MISSION_UNSUPPORTED; } if (!check_lat(cmd.x)) { return MAV_MISSION_INVALID_PARAM5_X; } if (!check_lng(cmd.y)) { return MAV_MISSION_INVALID_PARAM6_Y; } if (cmd.z < INT16_MIN || cmd.z > INT16_MAX) { return MAV_MISSION_INVALID_PARAM7; } ret = {}; switch (cmd.frame) { case MAV_FRAME_GLOBAL: case MAV_FRAME_GLOBAL_INT: ret.alt_frame = uint8_t(Location::AltFrame::ABSOLUTE); break; case MAV_FRAME_GLOBAL_RELATIVE_ALT: case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: ret.alt_frame = uint8_t(Location::AltFrame::ABOVE_HOME); break; #if AP_TERRAIN_AVAILABLE case MAV_FRAME_GLOBAL_TERRAIN_ALT: case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT: ret.alt_frame = uint8_t(Location::AltFrame::ABOVE_TERRAIN); break; #endif default: return MAV_MISSION_UNSUPPORTED_FRAME; } // Fresh points always use new alt frame format ret.alt_frame_valid = true; ret.lat = cmd.x; ret.lng = cmd.y; ret.alt = cmd.z; return MAV_MISSION_ACCEPTED; } /* static function to get rally item as mavlink_mission_item_int_t */ bool MissionItemProtocol_Rally::get_item_as_mission_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet) { auto *rallyp = AP::rally(); RallyLocation rallypoint; if (rallyp == nullptr || !rallyp->get_rally_point_with_index(seq, rallypoint)) { return false; } // Default to relative to home ret_packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; if (rallypoint.alt_frame_valid == 1) { switch (Location::AltFrame(rallypoint.alt_frame)) { case Location::AltFrame::ABSOLUTE: ret_packet.frame = MAV_FRAME_GLOBAL; break; case Location::AltFrame::ABOVE_HOME: ret_packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; break; case Location::AltFrame::ABOVE_ORIGIN: // Above origin alt frame is not supported return false; case Location::AltFrame::ABOVE_TERRAIN: ret_packet.frame = MAV_FRAME_GLOBAL_TERRAIN_ALT; break; } } ret_packet.command = MAV_CMD_NAV_RALLY_POINT; ret_packet.x = rallypoint.lat; ret_packet.y = rallypoint.lng; ret_packet.z = rallypoint.alt; ret_packet.mission_type = MAV_MISSION_TYPE_RALLY; return true; } MAV_MISSION_RESULT MissionItemProtocol_Rally::get_item(const GCS_MAVLINK &_link, const mavlink_message_t &msg, const mavlink_mission_request_int_t &packet, mavlink_mission_item_int_t &ret_packet) { if (!get_item_as_mission_item(packet.seq, ret_packet)) { return MAV_MISSION_INVALID_SEQUENCE; } return MAV_MISSION_ACCEPTED; } uint16_t MissionItemProtocol_Rally::item_count() const { return rally.get_rally_total(); } uint16_t MissionItemProtocol_Rally::max_items() const { return rally.get_rally_max(); } MAV_MISSION_RESULT MissionItemProtocol_Rally::replace_item(const mavlink_mission_item_int_t &cmd) { RallyLocation rallyloc; const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc); if (ret != MAV_MISSION_ACCEPTED) { return ret; } if (!rally.set_rally_point_with_index(cmd.seq, rallyloc)) { return MAV_MISSION_ERROR; } return MAV_MISSION_ACCEPTED; } void MissionItemProtocol_Rally::timeout() { link->send_text(MAV_SEVERITY_WARNING, "Rally upload timeout"); } void MissionItemProtocol_Rally::truncate(const mavlink_mission_count_t &packet) { rally.truncate(packet.count); } #endif // HAL_GCS_ENABLED && HAL_RALLY_ENABLED