#include "Sub.h" #include static enum AutoSurfaceState auto_surface_state = AUTO_SURFACE_STATE_GO_TO_LOCATION; // start_command - this function will be called when the ap_mission lib wishes to start a new command bool Sub::start_command(const AP_Mission::Mission_Command& cmd) { // To-Do: logging when new commands start/end if (should_log(MASK_LOG_CMD)) { logger.Write_Mission_Cmd(mission, cmd); } const Location &target_loc = cmd.content.location; // target alt must be negative (underwater) if (target_loc.alt > 0.0f) { gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT %0.2f", (double)target_loc.alt); return false; } // only tested/supported alt frame so far is ALT_FRAME_ABOVE_HOME, where Home alt is always water's surface ie zero depth if (target_loc.get_alt_frame() != Location::ALT_FRAME_ABOVE_HOME) { gcs().send_text(MAV_SEVERITY_WARNING, "BAD NAV ALT_FRAME %d", (int8_t)target_loc.get_alt_frame()); return false; } switch (cmd.id) { /// /// navigation commands /// case MAV_CMD_NAV_WAYPOINT: // 16 Navigate to Waypoint do_nav_wp(cmd); break; case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint do_surface(cmd); break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: do_RTL(); break; case MAV_CMD_NAV_LOITER_UNLIM: // 17 Loiter indefinitely do_loiter_unlimited(cmd); break; case MAV_CMD_NAV_LOITER_TURNS: //18 Loiter N Times do_circle(cmd); break; case MAV_CMD_NAV_LOITER_TIME: // 19 do_loiter_time(cmd); break; case MAV_CMD_NAV_SPLINE_WAYPOINT: // 82 Navigate to Waypoint using spline do_spline_wp(cmd); break; #if NAV_GUIDED == ENABLED case MAV_CMD_NAV_GUIDED_ENABLE: // 92 accept navigation commands from external nav computer do_nav_guided_enable(cmd); break; #endif case MAV_CMD_NAV_DELAY: // 93 Delay the next navigation command do_nav_delay(cmd); break; // // conditional commands // case MAV_CMD_CONDITION_DELAY: // 112 do_wait_delay(cmd); break; case MAV_CMD_CONDITION_DISTANCE: // 114 do_within_distance(cmd); break; case MAV_CMD_CONDITION_YAW: // 115 do_yaw(cmd); break; /// /// do commands /// case MAV_CMD_DO_CHANGE_SPEED: // 178 do_change_speed(cmd); break; case MAV_CMD_DO_SET_HOME: // 179 do_set_home(cmd); break; case MAV_CMD_DO_SET_ROI: // 201 // point the vehicle and camera at a region of interest (ROI) do_roi(cmd); break; case MAV_CMD_DO_MOUNT_CONTROL: // 205 // point the camera to a specified angle do_mount_control(cmd); break; #if NAV_GUIDED == ENABLED case MAV_CMD_DO_GUIDED_LIMITS: // 222 accept guided mode limits do_guided_limits(cmd); break; #endif default: // unable to use the command, allow the vehicle to try the next command return false; } // always return success return true; } /********************************************************************************/ // Verify command Handlers /********************************************************************************/ // check to see if current command goal has been achieved // called by mission library in mission.update() bool Sub::verify_command_callback(const AP_Mission::Mission_Command& cmd) { if (control_mode == AUTO) { bool cmd_complete = verify_command(cmd); // send message to GCS if (cmd_complete) { gcs().send_mission_item_reached_message(cmd.index); } return cmd_complete; } return false; } // check if current mission command has completed bool Sub::verify_command(const AP_Mission::Mission_Command& cmd) { switch (cmd.id) { // // navigation commands // case MAV_CMD_NAV_WAYPOINT: return verify_nav_wp(cmd); case MAV_CMD_NAV_LAND: return verify_surface(cmd); case MAV_CMD_NAV_RETURN_TO_LAUNCH: return verify_RTL(); case MAV_CMD_NAV_LOITER_UNLIM: return verify_loiter_unlimited(); case MAV_CMD_NAV_LOITER_TURNS: return verify_circle(cmd); case MAV_CMD_NAV_LOITER_TIME: return verify_loiter_time(); case MAV_CMD_NAV_SPLINE_WAYPOINT: return verify_spline_wp(cmd); #if NAV_GUIDED == ENABLED case MAV_CMD_NAV_GUIDED_ENABLE: return verify_nav_guided_enable(cmd); #endif case MAV_CMD_NAV_DELAY: return verify_nav_delay(cmd); /// /// conditional commands /// case MAV_CMD_CONDITION_DELAY: return verify_wait_delay(); case MAV_CMD_CONDITION_DISTANCE: return verify_within_distance(); case MAV_CMD_CONDITION_YAW: return verify_yaw(); // do commands (always return true) case MAV_CMD_DO_CHANGE_SPEED: case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_ROI: case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_DO_CONTROL_VIDEO: case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_GUIDED_LIMITS: return true; default: // error message gcs().send_text(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id); // return true if we do not recognize the command so that we move on to the next command return true; } } // exit_mission - function that is called once the mission completes void Sub::exit_mission() { // play a tone AP_Notify::events.mission_complete = 1; // Try to enter loiter, if that fails, go to depth hold if (!auto_loiter_start()) { set_mode(ALT_HOLD, MODE_REASON_MISSION_END); } } /********************************************************************************/ // Nav (Must) commands /********************************************************************************/ // do_nav_wp - initiate move to next waypoint void Sub::do_nav_wp(const AP_Mission::Mission_Command& cmd) { Location target_loc(cmd.content.location); // use current lat, lon if zero if (target_loc.lat == 0 && target_loc.lng == 0) { target_loc.lat = current_loc.lat; target_loc.lng = current_loc.lng; } // use current altitude if not provided if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // 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 loiter_time_max = cmd.p1; // Set wp navigation target auto_wp_start(target_loc); // if no delay set the waypoint as "fast" if (loiter_time_max == 0) { wp_nav.set_fast_waypoint(true); } } // do_surface - initiate surface procedure void Sub::do_surface(const AP_Mission::Mission_Command& cmd) { Location target_location; // if location provided we fly to that location at current altitude if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) { // set state to go to location auto_surface_state = AUTO_SURFACE_STATE_GO_TO_LOCATION; // calculate and set desired location below surface target // convert to location class target_location = Location(cmd.content.location); // decide if we will use terrain following int32_t curr_terr_alt_cm, target_terr_alt_cm; if (current_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) && target_location.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) { // if using terrain, set target altitude to current altitude above terrain target_location.set_alt_cm(curr_terr_alt_cm, Location::ALT_FRAME_ABOVE_TERRAIN); } else { // set target altitude to current altitude above home target_location.set_alt_cm(current_loc.alt, Location::ALT_FRAME_ABOVE_HOME); } } else { // set surface state to ascend auto_surface_state = AUTO_SURFACE_STATE_ASCEND; // Set waypoint destination to current location at zero depth target_location = Location(current_loc.lat, current_loc.lng, 0, Location::ALT_FRAME_ABOVE_HOME); } // Go to wp location auto_wp_start(target_location); } void Sub::do_RTL() { auto_wp_start(ahrs.get_home()); } // do_loiter_unlimited - start loitering with no end conditions // note: caller should set yaw_mode void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd) { // convert back to location Location target_loc(cmd.content.location); // use current location if not provided if (target_loc.lat == 0 && target_loc.lng == 0) { // To-Do: make this simpler Vector3f temp_pos; wp_nav.get_wp_stopping_point_xy(temp_pos); const Location temp_loc(temp_pos); target_loc.lat = temp_loc.lat; target_loc.lng = temp_loc.lng; } // In mavproxy misseditor: Abs = 0 = ALT_FRAME_ABSOLUTE // Rel = 1 = ALT_FRAME_ABOVE_HOME // AGL = 3 = ALT_FRAME_ABOVE_TERRAIN // 2 = ALT_FRAME_ABOVE_ORIGIN, not an option in mavproxy misseditor // use current altitude if not provided // To-Do: use z-axis stopping point instead of current alt if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // start way point navigator and provide it the desired location auto_wp_start(target_loc); } // do_circle - initiate moving in a circle void Sub::do_circle(const AP_Mission::Mission_Command& cmd) { Location circle_center(cmd.content.location); // default lat/lon to current position if not provided // To-Do: use stopping point or position_controller's target instead of current location to avoid jerk? if (circle_center.lat == 0 && circle_center.lng == 0) { circle_center.lat = current_loc.lat; circle_center.lng = current_loc.lng; } // default target altitude to current altitude if not provided if (circle_center.alt == 0) { int32_t curr_alt; if (current_loc.get_alt_cm(circle_center.get_alt_frame(),curr_alt)) { // circle altitude uses frame from command circle_center.set_alt_cm(curr_alt,circle_center.get_alt_frame()); } else { // default to current altitude above origin circle_center.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA); } } // calculate radius uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1 // move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge auto_circle_movetoedge_start(circle_center, circle_radius_m); } // do_loiter_time - initiate loitering at a point for a given time period // note: caller should set yaw_mode void Sub::do_loiter_time(const AP_Mission::Mission_Command& cmd) { // re-use loiter unlimited do_loiter_unlimited(cmd); // setup loiter timer loiter_time = 0; loiter_time_max = cmd.p1; // units are (seconds) } // do_spline_wp - initiate move to next waypoint void Sub::do_spline_wp(const AP_Mission::Mission_Command& cmd) { Location target_loc(cmd.content.location); // use current lat, lon if zero if (target_loc.lat == 0 && target_loc.lng == 0) { target_loc.lat = current_loc.lat; target_loc.lng = current_loc.lng; } // use current altitude if not provided if (target_loc.alt == 0) { // set to current altitude but in command's alt frame int32_t curr_alt; if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame()); } else { // default to current altitude as alt-above-home target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame()); } } // 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 loiter_time_max = cmd.p1; // determine segment start and end type bool stopped_at_start = true; AC_WPNav::spline_segment_end_type seg_end_type = AC_WPNav::SEGMENT_END_STOP; AP_Mission::Mission_Command temp_cmd; // if previous command was a wp_nav command with no delay set stopped_at_start to false // To-Do: move processing of delay into wp-nav controller to allow it to determine the stopped_at_start value itself? uint16_t prev_cmd_idx = mission.get_prev_nav_cmd_index(); if (prev_cmd_idx != AP_MISSION_CMD_INDEX_NONE) { if (mission.read_cmd_from_storage(prev_cmd_idx, temp_cmd)) { if ((temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) && temp_cmd.p1 == 0) { stopped_at_start = false; } } } // if there is no delay at the end of this segment get next nav command Location next_loc; if (cmd.p1 == 0 && mission.get_next_nav_cmd(cmd.index+1, temp_cmd)) { next_loc = temp_cmd.content.location; // default lat, lon to first waypoint's lat, lon if (next_loc.lat == 0 && next_loc.lng == 0) { next_loc.lat = target_loc.lat; next_loc.lng = target_loc.lng; } // default alt to first waypoint's alt but in next waypoint's alt frame if (next_loc.alt == 0) { int32_t next_alt; if (target_loc.get_alt_cm(next_loc.get_alt_frame(), next_alt)) { next_loc.set_alt_cm(next_alt, next_loc.get_alt_frame()); } else { // default to first waypoints altitude next_loc.set_alt_cm(target_loc.alt, target_loc.get_alt_frame()); } } // if the next nav command is a waypoint set end type to spline or straight if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT) { seg_end_type = AC_WPNav::SEGMENT_END_STRAIGHT; } else if (temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT) { seg_end_type = AC_WPNav::SEGMENT_END_SPLINE; } } // set spline navigation target auto_spline_start(target_loc, stopped_at_start, seg_end_type, next_loc); } #if NAV_GUIDED == ENABLED // do_nav_guided_enable - initiate accepting commands from external nav computer void Sub::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd) { if (cmd.p1 > 0) { // initialise guided limits guided_limit_init_time_and_pos(); // set spline navigation target auto_nav_guided_start(); } } #endif // NAV_GUIDED // do_nav_delay - Delay the next navigation command void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd) { nav_delay_time_start = AP_HAL::millis(); if (cmd.content.nav_delay.seconds > 0) { // relative delay nav_delay_time_max = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds } else { // absolute delay to utc time nav_delay_time_max = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0); } gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000)); } #if NAV_GUIDED == ENABLED // do_guided_limits - pass guided limits to guided controller void Sub::do_guided_limits(const AP_Mission::Mission_Command& cmd) { guided_limit_set(cmd.p1 * 1000, // convert seconds to ms cmd.content.guided_limits.alt_min * 100.0f, // convert meters to cm cmd.content.guided_limits.alt_max * 100.0f, // convert meters to cm cmd.content.guided_limits.horiz_max * 100.0f); // convert meters to cm } #endif /********************************************************************************/ // Verify Nav (Must) commands /********************************************************************************/ // verify_nav_wp - check if we have reached the next way point bool Sub::verify_nav_wp(const AP_Mission::Mission_Command& cmd) { // check if we have reached the waypoint if (!wp_nav.reached_wp_destination()) { return false; } // play a tone AP_Notify::events.waypoint_complete = 1; // start timer if necessary if (loiter_time == 0) { loiter_time = AP_HAL::millis(); } // check if timer has run out if (((AP_HAL::millis() - loiter_time) / 1000) >= loiter_time_max) { gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); return true; } return false; } // verify_surface - returns true if surface procedure has been completed bool Sub::verify_surface(const AP_Mission::Mission_Command& cmd) { bool retval = false; switch (auto_surface_state) { case AUTO_SURFACE_STATE_GO_TO_LOCATION: // check if we've reached the location if (wp_nav.reached_wp_destination()) { // Set target to current xy and zero depth // TODO get xy target from current wp destination, because current location may be acceptance-radius away from original destination Location target_location(cmd.content.location.lat, cmd.content.location.lng, 0, Location::ALT_FRAME_ABOVE_HOME); auto_wp_start(target_location); // advance to next state auto_surface_state = AUTO_SURFACE_STATE_ASCEND; } break; case AUTO_SURFACE_STATE_ASCEND: if (wp_nav.reached_wp_destination()) { retval = true; } break; default: // this should never happen // TO-DO: log an error retval = true; break; } // true is returned if we've successfully surfaced return retval; } bool Sub::verify_RTL() { return wp_nav.reached_wp_destination(); } bool Sub::verify_loiter_unlimited() { return false; } // verify_loiter_time - check if we have loitered long enough bool Sub::verify_loiter_time() { // return immediately if we haven't reached our destination if (!wp_nav.reached_wp_destination()) { return false; } // start our loiter timer if (loiter_time == 0) { loiter_time = AP_HAL::millis(); } // check if loiter timer has run out return (((AP_HAL::millis() - loiter_time) / 1000) >= loiter_time_max); } // verify_circle - check if we have circled the point enough bool Sub::verify_circle(const AP_Mission::Mission_Command& cmd) { // check if we've reached the edge if (auto_mode == Auto_CircleMoveToEdge) { if (wp_nav.reached_wp_destination()) { Vector3f curr_pos = inertial_nav.get_position(); Vector3f circle_center = pv_location_to_vector(cmd.content.location); // set target altitude if not provided if (is_zero(circle_center.z)) { circle_center.z = curr_pos.z; } // set lat/lon position if not provided if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) { circle_center.x = curr_pos.x; circle_center.y = curr_pos.y; } // start circling auto_circle_start(); } return false; } // check if we have completed circling return fabsf(circle_nav.get_angle_total()/M_2PI) >= LOWBYTE(cmd.p1); } // verify_spline_wp - check if we have reached the next way point using spline bool Sub::verify_spline_wp(const AP_Mission::Mission_Command& cmd) { // check if we have reached the waypoint if (!wp_nav.reached_wp_destination()) { return false; } // start timer if necessary if (loiter_time == 0) { loiter_time = AP_HAL::millis(); } // check if timer has run out if (((AP_HAL::millis() - loiter_time) / 1000) >= loiter_time_max) { gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index); return true; } return false; } #if NAV_GUIDED == ENABLED // verify_nav_guided - check if we have breached any limits bool Sub::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd) { // if disabling guided mode then immediately return true so we move to next command if (cmd.p1 == 0) { return true; } // check time and position limits return guided_limit_check(); } #endif // NAV_GUIDED // verify_nav_delay - check if we have waited long enough bool Sub::verify_nav_delay(const AP_Mission::Mission_Command& cmd) { if (AP_HAL::millis() - nav_delay_time_start > (uint32_t)MAX(nav_delay_time_max, 0)) { nav_delay_time_max = 0; return true; } return false; } /********************************************************************************/ // Condition (May) commands /********************************************************************************/ void Sub::do_wait_delay(const AP_Mission::Mission_Command& cmd) { condition_start = AP_HAL::millis(); condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds } void Sub::do_within_distance(const AP_Mission::Mission_Command& cmd) { condition_value = cmd.content.distance.meters * 100; } void Sub::do_yaw(const AP_Mission::Mission_Command& cmd) { set_auto_yaw_look_at_heading( cmd.content.yaw.angle_deg, cmd.content.yaw.turn_rate_dps, cmd.content.yaw.direction, cmd.content.yaw.relative_angle); } /********************************************************************************/ // Verify Condition (May) commands /********************************************************************************/ bool Sub::verify_wait_delay() { if (AP_HAL::millis() - condition_start > (uint32_t)MAX(condition_value, 0)) { condition_value = 0; return true; } return false; } bool Sub::verify_within_distance() { if (wp_nav.get_wp_distance_to_destination() < (uint32_t)MAX(condition_value,0)) { condition_value = 0; return true; } return false; } // verify_yaw - return true if we have reached the desired heading bool Sub::verify_yaw() { // set yaw mode if it has been changed (the waypoint controller often retakes control of yaw as it executes a new waypoint command) if (auto_yaw_mode != AUTO_YAW_LOOK_AT_HEADING) { set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING); } // check if we are within 2 degrees of the target heading return (fabsf(wrap_180_cd(ahrs.yaw_sensor-yaw_look_at_heading)) <= 200); } /********************************************************************************/ // Do (Now) commands /********************************************************************************/ // do_guided - start guided mode bool Sub::do_guided(const AP_Mission::Mission_Command& cmd) { // only process guided waypoint if we are in guided mode if (control_mode != GUIDED && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) { return false; } // switch to handle different commands switch (cmd.id) { case MAV_CMD_NAV_WAYPOINT: { // set wp_nav's destination return guided_set_destination(cmd.content.location); } case MAV_CMD_CONDITION_YAW: do_yaw(cmd); return true; default: // reject unrecognised command return false; } return true; } void Sub::do_change_speed(const AP_Mission::Mission_Command& cmd) { if (cmd.content.speed.target_ms > 0) { wp_nav.set_speed_xy(cmd.content.speed.target_ms * 100.0f); } } void Sub::do_set_home(const AP_Mission::Mission_Command& cmd) { if (cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) { if (!set_home_to_current_location(false)) { // silently ignore this failure } } else { if (!far_from_EKF_origin(cmd.content.location)) { if (!set_home(cmd.content.location, false)) { // silently ignore this failure } } } } // do_roi - starts actions required by MAV_CMD_NAV_ROI // this involves either moving the camera to point at the ROI (region of interest) // and possibly rotating the vehicle to point at the ROI if our mount type does not support a yaw feature // TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint void Sub::do_roi(const AP_Mission::Mission_Command& cmd) { set_auto_yaw_roi(cmd.content.location); } // point the camera to a specified angle void Sub::do_mount_control(const AP_Mission::Mission_Command& cmd) { #if MOUNT == ENABLED camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw); #endif }