mirror of https://github.com/ArduPilot/ardupilot
460 lines
16 KiB
C++
460 lines
16 KiB
C++
#include "Rover.h"
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/********************************************************************************/
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// Command Event Handlers
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/********************************************************************************/
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bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
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{
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// log when new commands start
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if (should_log(MASK_LOG_CMD)) {
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DataFlash.Log_Write_Mission_Cmd(mission, cmd);
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}
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// exit immediately if not in AUTO mode
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if (control_mode != AUTO) {
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return false;
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}
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);
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// remember the course of our next navigation leg
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next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
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switch(cmd.id){
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case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
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do_nav_wp(cmd);
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break;
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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do_RTL();
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break;
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case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
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do_loiter_unlimited(cmd);
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break;
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// Conditional commands
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case MAV_CMD_CONDITION_DELAY:
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do_wait_delay(cmd);
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break;
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case MAV_CMD_CONDITION_DISTANCE:
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do_within_distance(cmd);
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break;
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// Do commands
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case MAV_CMD_DO_CHANGE_SPEED:
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do_change_speed(cmd);
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break;
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case MAV_CMD_DO_SET_HOME:
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do_set_home(cmd);
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break;
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case MAV_CMD_DO_SET_SERVO:
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ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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break;
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case MAV_CMD_DO_SET_RELAY:
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ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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break;
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case MAV_CMD_DO_REPEAT_SERVO:
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ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
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cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
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break;
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case MAV_CMD_DO_REPEAT_RELAY:
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ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
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cmd.content.repeat_relay.cycle_time * 1000.0f);
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break;
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#if CAMERA == ENABLED
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case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
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break;
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case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
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do_digicam_configure(cmd);
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break;
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case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
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do_digicam_control(cmd);
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break;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
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break;
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#endif
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#if MOUNT == ENABLED
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// Sets the region of interest (ROI) for a sensor set or the
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// vehicle itself. This can then be used by the vehicles control
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// system to control the vehicle attitude and the attitude of various
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// devices such as cameras.
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// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
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case MAV_CMD_DO_SET_ROI:
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if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
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// switch off the camera tracking if enabled
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if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
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camera_mount.set_mode_to_default();
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}
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} else {
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// send the command to the camera mount
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camera_mount.set_roi_target(cmd.content.location);
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}
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break;
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#endif
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case MAV_CMD_DO_SET_REVERSE:
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do_set_reverse(cmd);
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break;
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default:
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// return false for unhandled commands
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return false;
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}
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// if we got this far we must have been successful
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return true;
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}
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// exit_mission - callback function called from ap-mission when the mission has completed
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// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
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void Rover::exit_mission()
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{
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if (control_mode == AUTO) {
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gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO. Setting HOLD");
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set_mode(HOLD);
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}
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}
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// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
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// we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
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bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
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{
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if (control_mode == AUTO) {
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bool cmd_complete = verify_command(cmd);
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// send message to GCS
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if (cmd_complete) {
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gcs_send_mission_item_reached_message(cmd.index);
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}
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return cmd_complete;
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}
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return false;
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}
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/*******************************************************************************
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Verify command Handlers
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Each type of mission element has a "verify" operation. The verify
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operation returns true when the mission element has completed and we
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should move onto the next mission element.
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Return true if we do not recognize the command so that we move on to the next command
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*******************************************************************************/
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bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
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{
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switch(cmd.id) {
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case MAV_CMD_NAV_WAYPOINT:
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return verify_nav_wp(cmd);
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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return verify_RTL();
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case MAV_CMD_NAV_LOITER_UNLIM:
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return verify_loiter_unlim();
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case MAV_CMD_CONDITION_DELAY:
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return verify_wait_delay();
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case MAV_CMD_CONDITION_DISTANCE:
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return verify_within_distance();
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// do commands (always return true)
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case MAV_CMD_DO_CHANGE_SPEED:
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case MAV_CMD_DO_SET_HOME:
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case MAV_CMD_DO_SET_SERVO:
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case MAV_CMD_DO_SET_RELAY:
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case MAV_CMD_DO_REPEAT_SERVO:
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case MAV_CMD_DO_REPEAT_RELAY:
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case MAV_CMD_DO_CONTROL_VIDEO:
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case MAV_CMD_DO_DIGICAM_CONFIGURE:
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case MAV_CMD_DO_DIGICAM_CONTROL:
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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case MAV_CMD_DO_SET_ROI:
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case MAV_CMD_DO_SET_REVERSE:
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return true;
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default:
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// error message
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gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
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// return true if we do not recognize the command so that we move on to the next command
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return true;
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}
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}
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/********************************************************************************/
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// Nav (Must) commands
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/********************************************************************************/
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void Rover::do_RTL(void)
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{
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prev_WP = current_loc;
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control_mode = RTL;
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next_WP = home;
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}
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void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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// this will be used to remember the time in millis after we reach or pass the WP.
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loiter_time = 0;
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// this is the delay, stored in seconds
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loiter_time_max = cmd.p1;
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// this is the distance we travel past the waypoint - not there yet so 0 initially
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distance_past_wp = 0;
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set_next_WP(cmd.content.location);
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}
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void Rover::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
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{
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Location cmdloc = cmd.content.location;
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location_sanitize(current_loc, cmdloc);
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set_next_WP(cmdloc);
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loiter_time_max = 100; // an arbitrary large loiter time
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distance_past_wp = 0;
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}
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/********************************************************************************/
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// Verify Nav (Must) commands
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/********************************************************************************/
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bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
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{
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if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
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// Check if we need to loiter at this waypoint
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if (loiter_time_max > 0) {
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if (loiter_time == 0) { // check if we are just starting loiter
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Loiter for %i seconds",
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(unsigned)cmd.index,
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(unsigned)loiter_time_max);
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// record the current time i.e. start timer
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loiter_time = millis();
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}
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// Check if we have loiter long enough
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if (((millis() - loiter_time) / 1000) < loiter_time_max) {
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return false;
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}
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} else {
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Distance %um",
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(unsigned)cmd.index,
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(unsigned)get_distance(current_loc, next_WP));
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}
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return true;
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}
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// have we gone past the waypoint?
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// We should always go through the waypoint i.e. the above code
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// first before we go past it.
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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// check if we have gone further past the wp then last time and output new message if we have
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if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
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distance_past_wp = get_distance(current_loc, next_WP);
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
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(unsigned)cmd.index,
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(unsigned)distance_past_wp);
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}
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// Check if we need to loiter at this waypoint
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if (loiter_time_max > 0) {
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if (((millis() - loiter_time) / 1000) < loiter_time_max) {
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return false;
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}
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}
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distance_past_wp = 0;
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return true;
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}
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return false;
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}
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bool Rover::verify_RTL()
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{
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if (wp_distance <= g.waypoint_radius) {
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gcs_send_text(MAV_SEVERITY_INFO,"Reached destination");
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rtl_complete = true;
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return true;
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}
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// have we gone past the waypoint?
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if (location_passed_point(current_loc, prev_WP, next_WP)) {
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %um",
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(unsigned)get_distance(current_loc, next_WP));
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rtl_complete = true;
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return true;
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}
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return false;
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}
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bool Rover::verify_loiter_unlim()
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{
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// Continually increase the loiter time so it never finishes
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loiter_time += loiter_time_max;
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return false;
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}
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void Rover::nav_set_yaw_speed()
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{
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// if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
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if ((millis() - guided_yaw_speed.msg_time_ms) > 3000)
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{
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gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
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channel_throttle->set_servo_out(g.throttle_min.get());
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channel_steer->set_servo_out(0);
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lateral_acceleration = 0;
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return;
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}
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channel_steer->set_servo_out(steerController.get_steering_out_angle_error(guided_yaw_speed.turn_angle));
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// speed param in the message gives speed as a proportion of cruise speed.
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// 0.5 would set speed to the cruise speed
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// 1 is double the cruise speed.
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float target_speed = g.speed_cruise * guided_yaw_speed.target_speed * 2;
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calc_throttle(target_speed);
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return;
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}
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/********************************************************************************/
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// Condition (May) commands
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/********************************************************************************/
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void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
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{
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condition_start = millis();
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condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
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}
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void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
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{
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condition_value = cmd.content.distance.meters;
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}
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/********************************************************************************/
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// Verify Condition (May) commands
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/********************************************************************************/
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bool Rover::verify_wait_delay()
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{
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if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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bool Rover::verify_within_distance()
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{
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if (wp_distance < condition_value){
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condition_value = 0;
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return true;
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}
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return false;
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}
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/********************************************************************************/
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// Do (Now) commands
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/********************************************************************************/
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void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.content.speed.target_ms > 0) {
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g.speed_cruise.set(cmd.content.speed.target_ms);
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
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}
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if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
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g.throttle_cruise.set(cmd.content.speed.throttle_pct);
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gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
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}
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}
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void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
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{
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if(cmd.p1 == 1 && have_position) {
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init_home();
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} else {
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ahrs.set_home(cmd.content.location);
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home_is_set = HOME_SET_NOT_LOCKED;
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Log_Write_Home_And_Origin();
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GCS_MAVLINK::send_home_all(cmd.content.location);
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}
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}
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// do_digicam_configure Send Digicam Configure message with the camera library
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void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
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{
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#if CAMERA == ENABLED
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camera.configure(cmd.content.digicam_configure.shooting_mode,
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cmd.content.digicam_configure.shutter_speed,
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cmd.content.digicam_configure.aperture,
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cmd.content.digicam_configure.ISO,
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cmd.content.digicam_configure.exposure_type,
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cmd.content.digicam_configure.cmd_id,
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cmd.content.digicam_configure.engine_cutoff_time);
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#endif
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}
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// do_digicam_control Send Digicam Control message with the camera library
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void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
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{
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#if CAMERA == ENABLED
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if (camera.control(cmd.content.digicam_control.session,
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cmd.content.digicam_control.zoom_pos,
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cmd.content.digicam_control.zoom_step,
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cmd.content.digicam_control.focus_lock,
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cmd.content.digicam_control.shooting_cmd,
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cmd.content.digicam_control.cmd_id)) {
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log_picture();
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}
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#endif
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}
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// do_take_picture - take a picture with the camera library
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void Rover::do_take_picture()
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{
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#if CAMERA == ENABLED
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camera.trigger_pic(true);
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log_picture();
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#endif
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}
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// log_picture - log picture taken and send feedback to GCS
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void Rover::log_picture()
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{
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if (!camera.using_feedback_pin()) {
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gcs_send_message(MSG_CAMERA_FEEDBACK);
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if (should_log(MASK_LOG_CAMERA)) {
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DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
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}
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} else {
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if (should_log(MASK_LOG_CAMERA)) {
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DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
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}
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}
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}
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void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
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{
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if (cmd.p1 == 1) {
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set_reverse(true);
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} else {
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set_reverse(false);
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}
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}
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