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ardupilot/libraries/AP_Mission/AP_Mission.cpp

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/// @file AP_Mission.cpp
/// @brief Handles the MAVLINK command mission stack. Reads and writes mission to storage.
#include "AP_Mission.h"
#include <AP_Terrain/AP_Terrain.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_AHRS/AP_AHRS.h>
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
// @ReadOnly: True
AP_GROUPINFO_FLAGS("TOTAL", 0, AP_Mission, _cmd_total, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
// @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
// @User: Advanced
AP_GROUPINFO("RESTART", 1, AP_Mission, _restart, AP_MISSION_RESTART_DEFAULT),
// @Param: OPTIONS
// @DisplayName: Mission options bitmask
// @Description: Bitmask of what options to use in missions.
// @Bitmask: 0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe,2:ContinueAfterLand
// @Bitmask{Copter}: 0:Clear Mission on reboot, 2:ContinueAfterLand
// @Bitmask{Rover, Sub}: 0:Clear Mission on reboot
// @User: Advanced
AP_GROUPINFO("OPTIONS", 2, AP_Mission, _options, AP_MISSION_OPTIONS_DEFAULT),
AP_GROUPEND
};
extern const AP_HAL::HAL& hal;
// storage object
StorageAccess AP_Mission::_storage(StorageManager::StorageMission);
HAL_Semaphore AP_Mission::_rsem;
///
/// 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();
// initialize the jump tracking array
init_jump_tracking();
// If Mission Clear bit is set then it should clear the mission, otherwise retain the mission.
if (AP_MISSION_MASK_MISSION_CLEAR & _options) {
gcs().send_text(MAV_SEVERITY_INFO, "Clearing Mission");
clear();
}
_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-initialized
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
if (!read_cmd_from_storage(_nav_cmd.index, _nav_cmd)) {
// if we failed to read the command from storage, then the command may have
// been from a previously loaded mission it is illogical to ever resume
// flying to a command that has been excluded from the current mission
start();
return;
}
// rewind the mission wp if the repeat distance has been set via MAV_CMD_DO_SET_RESUME_REPEAT_DIST
if (_repeat_dist > 0 && _wp_index_history[LAST_WP_PASSED] != AP_MISSION_CMD_INDEX_NONE) {
// if not already in a resume state calculate the position to rewind to
Mission_Command tmp_cmd;
if (!_flags.resuming_mission && calc_rewind_pos(tmp_cmd)) {
_resume_cmd = tmp_cmd;
}
// resume mission to rewound position
if (_resume_cmd.index != AP_MISSION_CMD_INDEX_NONE && start_command(_resume_cmd)) {
_nav_cmd = _resume_cmd;
_flags.nav_cmd_loaded = true;
// set flag to prevent history being re-written
_flags.resuming_mission = true;
return;
}
}
// 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
if (_flags.do_cmd_loaded && _do_cmd.index != AP_MISSION_CMD_INDEX_NONE) {
// restart the active do command, which will also load the nav command for us
set_current_cmd(_do_cmd.index);
} else if (_flags.nav_cmd_loaded) {
// restart the active nav command
set_current_cmd(_nav_cmd.index);
}
// 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
}
/// check if the next nav command is a takeoff, skipping delays
bool AP_Mission::is_takeoff_next(uint16_t cmd_index)
{
Mission_Command cmd = {};
// check a maximum of 16 items, remembering that missions can have
// loops in them
for (uint8_t i=0; i<16; i++, cmd_index++) {
if (!get_next_nav_cmd(cmd_index, cmd)) {
return false;
}
switch (cmd.id) {
// any of these are considered a takeoff command:
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF_LOCAL:
return true;
// any of these are considered "skippable" when determining if
// we "start with a takeoff command"
case MAV_CMD_DO_AUX_FUNCTION:
case MAV_CMD_NAV_DELAY:
continue;
default:
return false;
}
}
return false;
}
/// check mission starts with a takeoff command
bool AP_Mission::starts_with_takeoff_cmd()
{
uint16_t cmd_index = _restart ? AP_MISSION_CMD_INDEX_NONE : _nav_cmd.index;
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
}
return is_takeoff_next(cmd_index);
}
/*
return true if MIS_OPTIONS is set to allow continue of mission
logic after a land and the next waypoint is a takeoff. If this
is false then after a landing is complete the vehicle should
disarm and mission logic should stop
*/
bool AP_Mission::continue_after_land_check_for_takeoff()
{
if (!continue_after_land()) {
return false;
}
if (_nav_cmd.index == AP_MISSION_CMD_INDEX_NONE) {
return false;
}
return is_takeoff_next(_nav_cmd.index+1);
}
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()
void AP_Mission::start_or_resume()
{
if (_restart == 1 && !_force_resume) {
start();
} else {
resume();
_force_resume = false;
}
}
/// 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;
_flags.in_landing_sequence = 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;
_prev_nav_cmd_id = AP_MISSION_CMD_ID_NONE;
init_jump_tracking();
reset_wp_history();
}
/// 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
truncate(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);
_last_change_time_ms = AP_HAL::millis();
}
}
/// 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;
}
update_exit_position();
// save persistent waypoint_num for watchdog restore
hal.util->persistent_data.waypoint_num = _nav_cmd.index;
// 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 (verify_command(_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 {
// check the active do command
if (verify_command(_do_cmd)) {
// mark _do_cmd as complete
_flags.do_cmd_loaded = false;
}
}
}
bool AP_Mission::verify_command(const Mission_Command& cmd)
{
switch (cmd.id) {
// do-commands always return true for verify:
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE:
case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
case MAV_CMD_DO_SPRAYER:
case MAV_CMD_DO_AUX_FUNCTION:
case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
return true;
default:
return _cmd_verify_fn(cmd);
}
}
bool AP_Mission::start_command(const Mission_Command& cmd)
{
// check for landing related commands and set in_landing_sequence flag
if (is_landing_type_cmd(cmd.id) || cmd.id == MAV_CMD_DO_LAND_START) {
set_in_landing_sequence_flag(true);
} else if (is_takeoff_type_cmd(cmd.id)) {
set_in_landing_sequence_flag(false);
}
gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u %s", cmd.index, cmd.type());
switch (cmd.id) {
case MAV_CMD_DO_AUX_FUNCTION:
return start_command_do_aux_function(cmd);
case MAV_CMD_DO_GRIPPER:
return start_command_do_gripper(cmd);
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
return start_command_do_servorelayevents(cmd);
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
return start_command_camera(cmd);
case MAV_CMD_DO_PARACHUTE:
return start_command_parachute(cmd);
case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
return start_command_do_scripting(cmd);
case MAV_CMD_DO_SPRAYER:
return start_command_do_sprayer(cmd);
case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
return command_do_set_repeat_dist(cmd);
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
return start_command_do_gimbal_manager_pitchyaw(cmd);
default:
return _cmd_start_fn(cmd);
}
}
///
/// 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, const 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)
{
// NAV commands all have ids below MAV_CMD_NAV_LAST, plus some exceptions
return (cmd.id <= MAV_CMD_NAV_LAST ||
cmd.id == MAV_CMD_NAV_SET_YAW_SPEED ||
cmd.id == MAV_CMD_NAV_SCRIPT_TIME ||
cmd.id == MAV_CMD_NAV_ATTITUDE_TIME);
}
/// 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)
{
// search until the end of the mission command list
for (uint16_t cmd_index = start_index; cmd_index < (unsigned)_cmd_total; cmd_index++) {
// get next command
if (!get_next_cmd(cmd_index, cmd, false)) {
// no more commands so return failure
return false;
}
// if found a "navigation" command then return it
if (is_nav_cmd(cmd)) {
return true;
}
}
// 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;
}
// special handling for nav commands with no target location
if (cmd.id == MAV_CMD_NAV_GUIDED_ENABLE ||
cmd.id == MAV_CMD_NAV_DELAY) {
return default_angle;
}
if (cmd.id == MAV_CMD_NAV_SET_YAW_SPEED) {
return (_nav_cmd.content.set_yaw_speed.angle_deg * 100);
}
return _nav_cmd.content.location.get_bearing_to(cmd.content.location);
}
// set_current_cmd - jumps to command specified by index
bool AP_Mission::set_current_cmd(uint16_t index, bool rewind)
{
// read command to check for DO_LAND_START
Mission_Command cmd;
if (!read_cmd_from_storage(index, cmd) || (cmd.id != MAV_CMD_DO_LAND_START)) {
_flags.in_landing_sequence = false;
}
// mission command has been set and not as rewind command, don't track history.
if (!rewind) {
reset_wp_history();
}
// 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_id = AP_MISSION_CMD_ID_NONE;
_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, allow advance_current_nav_cmd() to manage starting the item
if (!advance_current_nav_cmd(index)) {
// on failure set mission complete
complete();
return false;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
// restart current navigation command. Used to handle external changes to mission
// returns true on success, false if mission is not running or current nav command is invalid
bool AP_Mission::restart_current_nav_cmd()
{
// return immediately if mission is not running
if (_flags.state != MISSION_RUNNING) {
return false;
}
// return immediately if nav command index is invalid
const uint16_t nav_cmd_index = get_current_nav_index();
if ((nav_cmd_index == 0) || (nav_cmd_index >= num_commands())) {
return false;
}
return set_current_cmd(_nav_cmd.index);
}
// returns false on any issue at all.
bool AP_Mission::set_item(uint16_t index, mavlink_mission_item_int_t& src_packet)
{
// this is the on-storage format
AP_Mission::Mission_Command cmd;
// can't handle request for anything bigger than the mission size+1...
if (index > num_commands()) {
return false;
}
// convert from mavlink-ish format to storage format, if we can.
if (mavlink_int_to_mission_cmd(src_packet, cmd) != MAV_MISSION_ACCEPTED) {
return false;
}
// A request to set the 'next' item after the end is how we add an extra
// item to the list, thus allowing us to write entire missions if needed.
if (index == num_commands()) {
return add_cmd(cmd);
}
// replacing an existing mission item...
return AP_Mission::replace_cmd(index, cmd);
}
bool AP_Mission::get_item(uint16_t index, mavlink_mission_item_int_t& ret_packet) const
{
// setting ret_packet.command = -1 and/or returning false
// means it contains invalid data after it leaves here.
// this is the on-storage format
AP_Mission::Mission_Command cmd;
// can't handle request for anything bigger than the mission size...
if (index >= num_commands()) {
ret_packet.command = -1;
return false;
}
// minimal placeholder values during read-from-storage
ret_packet.target_system = 1; // unused sysid
ret_packet.target_component = 1; // unused compid
// 0=home, higher number/s = mission item number.
ret_packet.seq = index;
// retrieve mission from eeprom
if (!read_cmd_from_storage(ret_packet.seq, cmd)) {
ret_packet.command = -1;
return false;
}
// convert into mavlink-ish format for lua and friends.
if (!mission_cmd_to_mavlink_int(cmd, ret_packet)) {
ret_packet.command = -1;
return false;
}
// set packet's current field to 1 if this is the command being executed
if (cmd.id == (uint16_t)get_current_nav_cmd().index) {
ret_packet.current = 1;
} else {
ret_packet.current = 0;
}
// set auto continue to 1, becasue that's what's done elsewhere.
ret_packet.autocontinue = 1; // 1 (true), 0 (false)
ret_packet.command = cmd.id;
return true;
}
struct PACKED Packed_Location_Option_Flags {
uint8_t relative_alt : 1; // 1 if altitude is relative to home
uint8_t unused1 : 1; // unused flag (defined so that loiter_ccw uses the correct bit)
uint8_t loiter_ccw : 1; // 0 if clockwise, 1 if counter clockwise
uint8_t terrain_alt : 1; // this altitude is above terrain
uint8_t origin_alt : 1; // this altitude is above ekf origin
uint8_t loiter_xtrack : 1; // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
uint8_t type_specific_bit_0 : 1; // each mission item type can use this for storing 1 bit of extra data
};
struct PACKED PackedLocation {
union {
Packed_Location_Option_Flags flags; ///< options bitmask (1<<0 = relative altitude)
uint8_t options; /// allows writing all flags to eeprom as one byte
};
// by making alt 24 bit we can make p1 in a command 16 bit,
// allowing an accurate angle in centi-degrees. This keeps the
// storage cost per mission item at 15 bytes, and allows mission
// altitudes of up to +/- 83km
int32_t alt:24; ///< param 2 - Altitude in centimeters (meters * 100) see LOCATION_ALT_MAX_M
int32_t lat; ///< param 3 - Latitude * 10**7
int32_t lng; ///< param 4 - Longitude * 10**7
};
union PackedContent {
// location
PackedLocation location; // Waypoint location
// raw bytes, for reading/writing to eeprom. Note that only 10
// bytes are available if a 16 bit command ID is used
uint8_t bytes[12];
};
assert_storage_size<PackedContent, 12> assert_storage_size_PackedContent;
/// 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
{
WITH_SEMAPHORE(_rsem);
// special handling for command #0 which is home
if (index == 0) {
cmd = {};
cmd.id = MAV_CMD_NAV_WAYPOINT;
cmd.content.location = AP::ahrs().get_home();
return true;
}
if (index >= (unsigned)_cmd_total) {
return false;
}
// ensure all bytes of cmd are zeroed
cmd = {};
// 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
const uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
PackedContent packed_content {};
const uint8_t b1 = _storage.read_byte(pos_in_storage);
if (b1 == 0) {
cmd.id = _storage.read_uint16(pos_in_storage+1);
cmd.p1 = _storage.read_uint16(pos_in_storage+3);
_storage.read_block(packed_content.bytes, pos_in_storage+5, 10);
} else {
cmd.id = b1;
cmd.p1 = _storage.read_uint16(pos_in_storage+1);
_storage.read_block(packed_content.bytes, pos_in_storage+3, 12);
}
if (stored_in_location(cmd.id)) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// NOTE! no 16-bit command may be stored_in_location as only
// 10 bytes are available for storage and lat/lon/alt required
// 4*sizeof(float) == 12 bytes of storage.
if (b1 == 0) {
AP_HAL::panic("May not store location for 16-bit commands");
}
#endif
// Location is not PACKED; field-wise copy it:
cmd.content.location.relative_alt = packed_content.location.flags.relative_alt;
cmd.content.location.loiter_ccw = packed_content.location.flags.loiter_ccw;
cmd.content.location.terrain_alt = packed_content.location.flags.terrain_alt;
cmd.content.location.origin_alt = packed_content.location.flags.origin_alt;
cmd.content.location.loiter_xtrack = packed_content.location.flags.loiter_xtrack;
cmd.content.location.alt = packed_content.location.alt;
cmd.content.location.lat = packed_content.location.lat;
cmd.content.location.lng = packed_content.location.lng;
if (packed_content.location.flags.type_specific_bit_0) {
cmd.type_specific_bits = 1U << 0;
}
} else {
// all other options in Content are assumed to be packed:
static_assert(sizeof(cmd.content) >= 12,
"content is big enough to take bytes");
// (void *) cast to specify gcc that we know that we are copy byte into a non trivial type and leaving 4 bytes untouched
memcpy((void *)&cmd.content, packed_content.bytes, 12);
}
// set command's index to it's position in eeprom
cmd.index = index;
// return success
return true;
}
bool AP_Mission::stored_in_location(uint16_t id)
{
switch (id) {
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
case MAV_CMD_NAV_LOITER_TO_ALT:
case MAV_CMD_NAV_SPLINE_WAYPOINT:
case MAV_CMD_NAV_GUIDED_ENABLE:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_GO_AROUND:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_PAYLOAD_PLACE:
return true;
default:
return false;
}
}
/// 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, const Mission_Command& cmd)
{
WITH_SEMAPHORE(_rsem);
// range check cmd's index
if (index >= num_commands_max()) {
return false;
}
PackedContent packed {};
if (stored_in_location(cmd.id)) {
// Location is not PACKED; field-wise copy it:
packed.location.flags.relative_alt = cmd.content.location.relative_alt;
packed.location.flags.loiter_ccw = cmd.content.location.loiter_ccw;
packed.location.flags.terrain_alt = cmd.content.location.terrain_alt;
packed.location.flags.origin_alt = cmd.content.location.origin_alt;
packed.location.flags.loiter_xtrack = cmd.content.location.loiter_xtrack;
packed.location.flags.type_specific_bit_0 = cmd.type_specific_bits & (1U<<0);
packed.location.alt = cmd.content.location.alt;
packed.location.lat = cmd.content.location.lat;
packed.location.lng = cmd.content.location.lng;
} else {
// all other options in Content are assumed to be packed:
static_assert(sizeof(packed.bytes) >= 12,
"packed.bytes is big enough to take content");
memcpy(packed.bytes, &cmd.content, 12);
}
// calculate where in storage the command should be placed
uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
if (cmd.id < 256) {
_storage.write_byte(pos_in_storage, cmd.id);
_storage.write_uint16(pos_in_storage+1, cmd.p1);
_storage.write_block(pos_in_storage+3, packed.bytes, 12);
} else {
// if the command ID is above 256 we store a 0 followed by the 16 bit command ID
_storage.write_byte(pos_in_storage, 0);
_storage.write_uint16(pos_in_storage+1, cmd.id);
_storage.write_uint16(pos_in_storage+3, cmd.p1);
_storage.write_block(pos_in_storage+5, packed.bytes, 10);
}
// 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 = AP::ahrs().get_home();
write_cmd_to_storage(0,home_cmd);
}
MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_int_t& packet)
{
uint8_t nan_mask;
switch (packet.command) {
case MAV_CMD_NAV_WAYPOINT:
nan_mask = ~(1 << 3); // param 4 can be nan
break;
case MAV_CMD_NAV_LAND:
nan_mask = ~(1 << 3); // param 4 can be nan
break;
case MAV_CMD_NAV_TAKEOFF:
nan_mask = ~(1 << 3); // param 4 can be nan
break;
case MAV_CMD_NAV_VTOL_TAKEOFF:
nan_mask = ~(1 << 3); // param 4 can be nan
break;
case MAV_CMD_NAV_VTOL_LAND:
nan_mask = ~((1 << 2) | (1 << 3)); // param 3 and 4 can be nan
break;
default:
nan_mask = 0xff;
break;
}
if (((nan_mask & (1 << 0)) && isnan(packet.param1)) ||
isinf(packet.param1)) {
return MAV_MISSION_INVALID_PARAM1;
}
if (((nan_mask & (1 << 1)) && isnan(packet.param2)) ||
isinf(packet.param2)) {
return MAV_MISSION_INVALID_PARAM2;
}
if (((nan_mask & (1 << 2)) && isnan(packet.param3)) ||
isinf(packet.param3)) {
return MAV_MISSION_INVALID_PARAM3;
}
if (((nan_mask & (1 << 3)) && isnan(packet.param4)) ||
isinf(packet.param4)) {
return MAV_MISSION_INVALID_PARAM4;
}
return MAV_MISSION_ACCEPTED;
}
// mavlink_int_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom
// return MAV_MISSION_ACCEPTED on success, MAV_MISSION_RESULT error on failure
MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_item_int_t& packet, AP_Mission::Mission_Command& cmd)
{
// command's position in mission list and mavlink id
cmd.index = packet.seq;
cmd.id = packet.command;
cmd.content.location = {};
MAV_MISSION_RESULT param_check = sanity_check_params(packet);
if (param_check != MAV_MISSION_ACCEPTED) {
return param_check;
}
// command specific conversions from mavlink packet to mission command
switch (cmd.id) {
case 0:
// this is reserved for storing 16 bit command IDs
return MAV_MISSION_INVALID;
case MAV_CMD_NAV_WAYPOINT: { // MAV ID: 16
/*
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 and pass by distance in meters
uint16_t acp = packet.param2; // param 2 is acceptance radius in meters is held in low p1
uint16_t passby = packet.param3; // param 3 is pass by distance in meters is held in high p1
// limit to 255 so it does not wrap during the shift or mask operation
passby = MIN(0xFF,passby);
acp = MIN(0xFF,acp);
cmd.p1 = (passby << 8) | (acp & 0x00FF);
#else
// delay at waypoint in seconds (this is for copters???)
cmd.p1 = packet.param1;
#endif
}
break;
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
cmd.p1 = fabsf(packet.param3); // store radius as 16bit since no other params are competing for space
cmd.content.location.loiter_ccw = (packet.param3 < 0); // -1 = counter clockwise, +1 = clockwise
break;
case MAV_CMD_NAV_LOITER_TURNS: { // MAV ID: 18
// number of turns is stored in the lowest bits. radii below
// 255m are stored in the top 8 bits as an 8-bit integer.
// Radii above 255m are stored divided by 10 and a bit set in
// storage so that on retrieval they are multiplied by 10
cmd.p1 = MIN(255, packet.param1); // store number of times to circle in low p1
uint8_t radius_m;
const float abs_radius = fabsf(packet.param3);
if (abs_radius <= 255) {
radius_m = abs_radius;
} else {
radius_m = MIN(255, abs_radius * 0.1);
cmd.type_specific_bits = 1U << 0;
}
cmd.p1 |= (radius_m<<8); // store radius in high byte of p1
cmd.content.location.loiter_ccw = (packet.param3 < 0);
cmd.content.location.loiter_xtrack = (packet.param4 > 0); // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
}
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
cmd.p1 = packet.param1; // loiter time in seconds uses all 16 bits, 8bit seconds is too small. No room for radius.
cmd.content.location.loiter_ccw = (packet.param3 < 0);
cmd.content.location.loiter_xtrack = (packet.param4 > 0); // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
break;
case MAV_CMD_NAV_LAND: // MAV ID: 21
cmd.p1 = packet.param1; // abort target altitude(m) (plane only)
if (!isnan(packet.param4)) {
cmd.content.location.loiter_ccw = is_negative(packet.param4); // yaw direction, (plane deepstall only)
}
break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
cmd.p1 = packet.param1; // minimum pitch (plane only)
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
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
cmd.p1 = fabsf(packet.param2); // param2 is radius in meters
cmd.content.location.loiter_ccw = (packet.param2 < 0);
cmd.content.location.loiter_xtrack = (packet.param4 > 0); // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
return MAV_MISSION_UNSUPPORTED;
#else
cmd.p1 = packet.param1; // delay at waypoint in seconds
break;
#endif
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_NAV_DELAY: // MAV ID: 93
cmd.content.nav_delay.seconds = packet.param1; // delay in seconds
cmd.content.nav_delay.hour_utc = packet.param2;// absolute time's hour (utc)
cmd.content.nav_delay.min_utc = packet.param3;// absolute time's min (utc)
cmd.content.nav_delay.sec_utc = packet.param4; // absolute time's second (utc)
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
cmd.content.delay.seconds = packet.param1; // delay in seconds
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_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 1 ~ 100%
break;
case MAV_CMD_DO_SET_HOME:
cmd.p1 = packet.param1; // p1=0 means use current location, p=1 means use provided location
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
break;
case MAV_CMD_DO_GO_AROUND: // MAV ID: 191
break;
case MAV_CMD_DO_SET_ROI: // MAV ID: 201
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
cmd.content.cam_trigg_dist.trigger = packet.param3; // when enabled, camera triggers once immediately
break;
case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
cmd.p1 = packet.param1; // action 0=disable, 1=enable
break;
case MAV_CMD_DO_AUX_FUNCTION:
cmd.content.auxfunction.function = packet.param1;
cmd.content.auxfunction.switchpos = packet.param2;
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;
case MAV_CMD_NAV_VTOL_TAKEOFF:
break;
case MAV_CMD_NAV_VTOL_LAND:
cmd.p1 = (NAV_VTOL_LAND_OPTIONS)packet.param1;
break;
case MAV_CMD_DO_VTOL_TRANSITION:
cmd.content.do_vtol_transition.target_state = packet.param1;
break;
case MAV_CMD_DO_SET_REVERSE:
cmd.p1 = packet.param1; // 0 = forward, 1 = reverse
break;
case MAV_CMD_DO_ENGINE_CONTROL:
cmd.content.do_engine_control.start_control = (packet.param1>0);
cmd.content.do_engine_control.cold_start = (packet.param2>0);
cmd.content.do_engine_control.height_delay_cm = packet.param3*100;
break;
case MAV_CMD_NAV_PAYLOAD_PLACE:
cmd.p1 = packet.param1*100; // copy max-descend parameter (m->cm)
break;
case MAV_CMD_NAV_SET_YAW_SPEED:
cmd.content.set_yaw_speed.angle_deg = packet.param1; // target angle in degrees
cmd.content.set_yaw_speed.speed = packet.param2; // speed in meters/second
cmd.content.set_yaw_speed.relative_angle = packet.param3; // 0 = absolute angle, 1 = relative angle
break;
case MAV_CMD_DO_WINCH: // MAV ID: 42600
cmd.content.winch.num = packet.param1; // winch number
cmd.content.winch.action = packet.param2; // action (0 = relax, 1 = length control, 2 = rate control). See WINCH_ACTION enum
cmd.content.winch.release_length = packet.param3; // cable distance to unwind in meters, negative numbers to wind in cable
cmd.content.winch.release_rate = packet.param4; // release rate in meters/second
break;
case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
cmd.p1 = packet.param1; // Resume repeat distance (m)
break;
case MAV_CMD_DO_SPRAYER:
cmd.p1 = packet.param1; // action 0=disable, 1=enable
break;
case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
cmd.p1 = packet.param1;
cmd.content.scripting.p1 = packet.param2;
cmd.content.scripting.p2 = packet.param3;
cmd.content.scripting.p3 = packet.param4;
break;
case MAV_CMD_NAV_SCRIPT_TIME:
cmd.content.nav_script_time.command = packet.param1;
cmd.content.nav_script_time.timeout_s = packet.param2;
cmd.content.nav_script_time.arg1 = packet.param3;
cmd.content.nav_script_time.arg2 = packet.param4;
break;
case MAV_CMD_NAV_ATTITUDE_TIME:
cmd.content.nav_attitude_time.time_sec = constrain_float(packet.param1, 0, UINT16_MAX);
cmd.content.nav_attitude_time.roll_deg = (fabsf(packet.param2) <= 180) ? packet.param2 : 0;
cmd.content.nav_attitude_time.pitch_deg = (fabsf(packet.param3) <= 90) ? packet.param3 : 0;
cmd.content.nav_attitude_time.yaw_deg = ((packet.param4 >= -180) && (packet.param4 <= 360)) ? packet.param4 : 0;
cmd.content.nav_attitude_time.climb_rate = packet.x;
break;
case MAV_CMD_DO_PAUSE_CONTINUE:
cmd.p1 = packet.param1;
break;
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg = packet.param1;
cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg = packet.param2;
cmd.content.gimbal_manager_pitchyaw.pitch_rate_degs = packet.param3;
cmd.content.gimbal_manager_pitchyaw.yaw_rate_degs = packet.param4;
cmd.content.gimbal_manager_pitchyaw.flags = packet.x;
cmd.content.gimbal_manager_pitchyaw.gimbal_id = packet.z;
break;
default:
// unrecognised command
return MAV_MISSION_UNSUPPORTED;
}
// copy location from mavlink to command
if (stored_in_location(cmd.id)) {
// sanity check location
if (!check_lat(packet.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
}
if (!check_lng(packet.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
if (isnan(packet.z) || fabsf(packet.z) >= LOCATION_ALT_MAX_M) {
return MAV_MISSION_INVALID_PARAM7;
}
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
switch (packet.frame) {
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
cmd.content.location.relative_alt = 0;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
cmd.content.location.relative_alt = 1;
break;
#if AP_TERRAIN_AVAILABLE
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
// we mark it as a relative altitude, as it doesn't have
// home alt added
cmd.content.location.relative_alt = 1;
// mark altitude as above terrain, not above home
cmd.content.location.terrain_alt = 1;
break;
#endif
default:
return MAV_MISSION_UNSUPPORTED_FRAME;
}
}
// if we got this far then it must have been successful
return MAV_MISSION_ACCEPTED;
}
MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(const mavlink_mission_item_t &packet,
mavlink_mission_item_int_t &mav_cmd)
{
// TODO: rename mav_cmd to mission_item_int
// TODO: rename packet to mission_item
mav_cmd.param1 = packet.param1;
mav_cmd.param2 = packet.param2;
mav_cmd.param3 = packet.param3;
mav_cmd.param4 = packet.param4;
mav_cmd.z = packet.z;
mav_cmd.seq = packet.seq;
mav_cmd.command = packet.command;
mav_cmd.target_system = packet.target_system;
mav_cmd.target_component = packet.target_component;
mav_cmd.frame = packet.frame;
mav_cmd.current = packet.current;
mav_cmd.autocontinue = packet.autocontinue;
mav_cmd.mission_type = packet.mission_type;
/*
the strategy for handling both MISSION_ITEM and MISSION_ITEM_INT
is to pass the lat/lng in MISSION_ITEM_INT straight through, and
for MISSION_ITEM multiply by 1e7 here. We need an exception for
any commands which use the x and y fields not as
latitude/longitude.
*/
switch (packet.command) {
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_NAV_ATTITUDE_TIME:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
mav_cmd.x = packet.x;
mav_cmd.y = packet.y;
break;
default:
// all other commands use x and y as lat/lon. We need to
// multiply by 1e7 to convert to int32_t
if (!check_lat(packet.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
}
if (!check_lng(packet.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
mav_cmd.x = packet.x * 1.0e7f;
mav_cmd.y = packet.y * 1.0e7f;
break;
}
return MAV_MISSION_ACCEPTED;
}
MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const mavlink_mission_item_int_t &item_int,
mavlink_mission_item_t &item)
{
item.param1 = item_int.param1;
item.param2 = item_int.param2;
item.param3 = item_int.param3;
item.param4 = item_int.param4;
item.z = item_int.z;
item.seq = item_int.seq;
item.command = item_int.command;
item.target_system = item_int.target_system;
item.target_component = item_int.target_component;
item.frame = item_int.frame;
item.current = item_int.current;
item.autocontinue = item_int.autocontinue;
item.mission_type = item_int.mission_type;
switch (item_int.command) {
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_NAV_ATTITUDE_TIME:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
item.x = item_int.x;
item.y = item_int.y;
break;
default:
// all other commands use x and y as lat/lon. We need to
// multiply by 1e-7 to convert to float
item.x = item_int.x * 1.0e-7f;
item.y = item_int.y * 1.0e-7f;
if (!check_lat(item.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
}
if (!check_lng(item.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
break;
}
return MAV_MISSION_ACCEPTED;
}
// mavlink_cmd_long_to_mission_cmd - converts a mavlink cmd long to an AP_Mission::Mission_Command object which can be stored to eeprom
// return MAV_MISSION_ACCEPTED on success, MAV_MISSION_RESULT error on failure
MAV_MISSION_RESULT AP_Mission::mavlink_cmd_long_to_mission_cmd(const mavlink_command_long_t& packet, AP_Mission::Mission_Command& cmd)
{
mavlink_mission_item_int_t miss_item = {0};
miss_item.param1 = packet.param1;
miss_item.param2 = packet.param2;
miss_item.param3 = packet.param3;
miss_item.param4 = packet.param4;
miss_item.command = packet.command;
miss_item.target_system = packet.target_system;
miss_item.target_component = packet.target_component;
return mavlink_int_to_mission_cmd(miss_item, cmd);
}
// mission_cmd_to_mavlink_int - 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
// NOTE: callers to this method current fill parts of "packet" in before calling this method, so do NOT attempt to zero the entire packet in here
bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_int_t& packet)
{
// 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.frame = 0;
packet.autocontinue = 1;
// command specific conversions from mission command to mavlink packet
switch (cmd.id) {
case 0:
// this is reserved for 16 bit command IDs
return false;
case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// acceptance radius in meters
packet.param2 = LOWBYTE(cmd.p1); // param 2 is acceptance radius in meters is held in low p1
packet.param3 = HIGHBYTE(cmd.p1); // param 3 is pass by distance in meters is held in high p1
#else
// delay at waypoint in seconds
packet.param1 = cmd.p1;
#endif
break;
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
packet.param3 = (float)cmd.p1;
if (cmd.content.location.loiter_ccw) {
packet.param3 *= -1;
}
break;
case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
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.loiter_ccw) {
packet.param3 = -packet.param3;
}
if (cmd.type_specific_bits & (1U<<0)) {
packet.param3 *= 10;
}
packet.param4 = cmd.content.location.loiter_xtrack; // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
packet.param1 = cmd.p1; // loiter time in seconds
if (cmd.content.location.loiter_ccw) {
packet.param3 = -1;
} else {
packet.param3 = 1;
}
packet.param4 = cmd.content.location.loiter_xtrack; // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
break;
case MAV_CMD_NAV_LAND: // MAV ID: 21
packet.param1 = cmd.p1; // abort target altitude(m) (plane only)
packet.param4 = cmd.content.location.loiter_ccw ? -1 : 1; // yaw direction, (plane deepstall only)
break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
packet.param1 = cmd.p1; // minimum pitch (plane only)
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT: // MAV ID: 30
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
packet.param2 = cmd.p1; // loiter radius(m)
if (cmd.content.location.loiter_ccw) {
packet.param2 = -packet.param2;
}
packet.param4 = cmd.content.location.loiter_xtrack; // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
break;
case MAV_CMD_NAV_SPLINE_WAYPOINT: // MAV ID: 82
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_NAV_DELAY: // MAV ID: 93
packet.param1 = cmd.content.nav_delay.seconds; // delay in seconds
packet.param2 = cmd.content.nav_delay.hour_utc; // absolute time's day of week (utc)
packet.param3 = cmd.content.nav_delay.min_utc; // absolute time's hour (utc)
packet.param4 = cmd.content.nav_delay.sec_utc; // absolute time's min (utc)
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
packet.param1 = cmd.content.delay.seconds; // delay in seconds
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_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 1 ~ 100%
break;
case MAV_CMD_DO_SET_HOME: // MAV ID: 179
packet.param1 = cmd.p1; // p1=0 means use current location, p=1 means use provided location
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
break;
case MAV_CMD_DO_GO_AROUND: // MAV ID: 191
break;
case MAV_CMD_DO_SET_ROI: // MAV ID: 201
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
packet.param3 = cmd.content.cam_trigg_dist.trigger; // when enabled, camera triggers once immediately
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_SPRAYER:
packet.param1 = cmd.p1; // action 0=disable, 1=enable
break;
case MAV_CMD_DO_AUX_FUNCTION:
packet.param1 = cmd.content.auxfunction.function;
packet.param2 = cmd.content.auxfunction.switchpos;
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_DO_SET_REVERSE:
packet.param1 = cmd.p1; // 0 = forward, 1 = reverse
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;
case MAV_CMD_NAV_VTOL_TAKEOFF:
break;
case MAV_CMD_NAV_VTOL_LAND:
packet.param1 = cmd.p1;
break;
case MAV_CMD_DO_VTOL_TRANSITION:
packet.param1 = cmd.content.do_vtol_transition.target_state;
break;
case MAV_CMD_DO_ENGINE_CONTROL:
packet.param1 = cmd.content.do_engine_control.start_control?1:0;
packet.param2 = cmd.content.do_engine_control.cold_start?1:0;
packet.param3 = cmd.content.do_engine_control.height_delay_cm*0.01f;
break;
case MAV_CMD_NAV_PAYLOAD_PLACE:
packet.param1 = cmd.p1/100.0f; // copy max-descend parameter (cm->m)
break;
case MAV_CMD_NAV_SET_YAW_SPEED:
packet.param1 = cmd.content.set_yaw_speed.angle_deg; // target angle in degrees
packet.param2 = cmd.content.set_yaw_speed.speed; // speed in meters/second
packet.param3 = cmd.content.set_yaw_speed.relative_angle; // 0 = absolute angle, 1 = relative angle
break;
case MAV_CMD_DO_WINCH:
packet.param1 = cmd.content.winch.num; // winch number
packet.param2 = cmd.content.winch.action; // action (0 = relax, 1 = length control, 2 = rate control). See WINCH_ACTION enum
packet.param3 = cmd.content.winch.release_length; // cable distance to unwind in meters, negative numbers to wind in cable
packet.param4 = cmd.content.winch.release_rate; // release rate in meters/second
break;
case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
packet.param1 = cmd.p1; // Resume repeat distance (m)
break;
case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
packet.param1 = cmd.p1;
packet.param2 = cmd.content.scripting.p1;
packet.param3 = cmd.content.scripting.p2;
packet.param4 = cmd.content.scripting.p3;
break;
case MAV_CMD_NAV_SCRIPT_TIME:
packet.param1 = cmd.content.nav_script_time.command;
packet.param2 = cmd.content.nav_script_time.timeout_s;
packet.param3 = cmd.content.nav_script_time.arg1;
packet.param4 = cmd.content.nav_script_time.arg2;
break;
case MAV_CMD_NAV_ATTITUDE_TIME:
packet.param1 = cmd.content.nav_attitude_time.time_sec;
packet.param2 = cmd.content.nav_attitude_time.roll_deg;
packet.param3 = cmd.content.nav_attitude_time.pitch_deg;
packet.param4 = cmd.content.nav_attitude_time.yaw_deg;
packet.x = cmd.content.nav_attitude_time.climb_rate;
break;
case MAV_CMD_DO_PAUSE_CONTINUE:
packet.param1 = cmd.p1;
break;
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
packet.param1 = cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg;
packet.param2 = cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg;
packet.param3 = cmd.content.gimbal_manager_pitchyaw.pitch_rate_degs;
packet.param4 = cmd.content.gimbal_manager_pitchyaw.yaw_rate_degs;
packet.x = cmd.content.gimbal_manager_pitchyaw.flags;
packet.z = cmd.content.gimbal_manager_pitchyaw.gimbal_id;
break;
default:
// unrecognised command
return false;
}
// copy location from mavlink to command
if (stored_in_location(cmd.id)) {
packet.x = cmd.content.location.lat;
packet.y = cmd.content.location.lng;
packet.z = cmd.content.location.alt * 0.01f; // cmd alt in cm to m
if (cmd.content.location.relative_alt) {
packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
} else {
packet.frame = MAV_FRAME_GLOBAL;
}
#if AP_TERRAIN_AVAILABLE
if (cmd.content.location.terrain_alt) {
// this is a above-terrain altitude
if (!cmd.content.location.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.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;
_flags.in_landing_sequence = false;
// 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(uint16_t starting_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
uint16_t cmd_index = starting_index > 0 ? starting_index - 1 : _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 && max_loops-- > 0) {
// get next command
Mission_Command cmd;
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_id = _nav_cmd.id;
_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;
if (start_command(_nav_cmd)) {
_flags.nav_cmd_loaded = true;
}
// save a loaded wp index in history array for when _repeat_dist is set via MAV_CMD_DO_SET_RESUME_REPEAT_DIST
// and prevent history being re-written until vehicle returns to interrupted position
if (_repeat_dist > 0 && !_flags.resuming_mission && _nav_cmd.index != AP_MISSION_CMD_INDEX_NONE && !(_nav_cmd.content.location.lat == 0 && _nav_cmd.content.location.lng == 0)) {
// update mission history. last index position is always the most recent wp loaded.
for (uint8_t i=0; i<AP_MISSION_MAX_WP_HISTORY-1; i++) {
_wp_index_history[i] = _wp_index_history[i+1];
}
_wp_index_history[AP_MISSION_MAX_WP_HISTORY-1] = _nav_cmd.index;
}
// check if the vehicle is resuming and has returned to where it was interrupted
if (_flags.resuming_mission && _nav_cmd.index == _wp_index_history[AP_MISSION_MAX_WP_HISTORY-1]) {
// vehicle has resumed previous position
gcs().send_text(MAV_SEVERITY_INFO, "Mission: Returned to interrupted WP");
_flags.resuming_mission = false;
}
} 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;
start_command(_do_cmd);
}
}
// move onto next command
cmd_index = cmd.index+1;
}
if (max_loops == 0) {
// infinite loop. This can happen if there's a loop involving
// only nav commands (no DO commands) which won't start()
return false;
}
// 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()
{
// 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
uint16_t 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 = _do_cmd.index + 1;
}
// find next do command
Mission_Command cmd;
if (!get_next_do_cmd(cmd_index, cmd)) {
// set flag to stop unnecessarily searching for do commands
_flags.do_cmd_all_done = true;
return;
}
// set current do command and start it
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
start_command(_do_cmd);
}
/// 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, bool send_gcs_msg)
{
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 && !_flags.resuming_mission) {
increment_jump_times_run(temp_cmd, send_gcs_msg);
}
// 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<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
_jump_tracking[i].index = AP_MISSION_CMD_INDEX_NONE;
_jump_tracking[i].num_times_run = 0;
}
}
/// get_jump_times_run - returns number of times the jump command has been run
int16_t AP_Mission::get_jump_times_run(const Mission_Command& cmd)
{
// exit immediately if cmd is not a do-jump command or target is invalid
if ((cmd.id != MAV_CMD_DO_JUMP) || (cmd.content.jump.target >= (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<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
if (_jump_tracking[i].index == cmd.index) {
return _jump_tracking[i].num_times_run;
} else if (_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {
// we've searched through all known jump commands and haven't found it so allocate new space in _jump_tracking array
_jump_tracking[i].index = cmd.index;
_jump_tracking[i].num_times_run = 0;
return 0;
}
}
// if we've gotten this far then the _jump_tracking array must be full
// To-Do: log an error?
return AP_MISSION_JUMP_TIMES_MAX;
}
/// increment_jump_times_run - increments the recorded number of times the jump command has been run
void AP_Mission::increment_jump_times_run(Mission_Command& cmd, bool send_gcs_msg)
{
// exit immediately if cmd is not a do-jump command
if (cmd.id != MAV_CMD_DO_JUMP) {
// To-Do: log an error?
return;
}
// search through jump_tracking array for this cmd
for (uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
if (_jump_tracking[i].index == cmd.index) {
_jump_tracking[i].num_times_run++;
if (send_gcs_msg) {
gcs().send_text(MAV_SEVERITY_INFO, "Mission: %u Jump %i/%i", _jump_tracking[i].index, _jump_tracking[i].num_times_run, cmd.content.jump.num_times);
}
return;
} else if (_jump_tracking[i].index == AP_MISSION_CMD_INDEX_NONE) {
// we've searched through all known jump commands and haven't found it so allocate new space in _jump_tracking array
_jump_tracking[i].index = cmd.index;
_jump_tracking[i].num_times_run = 1;
return;
}
}
// if we've gotten this far then the _jump_tracking array must be full
// To-Do: log an error
return;
}
// check_eeprom_version - checks version of missions stored in eeprom matches this library
// command list will be cleared if they do not match
void AP_Mission::check_eeprom_version()
{
uint32_t eeprom_version = _storage.read_uint32(0);
// if eeprom version does not match, clear the command list and update the eeprom version
if (eeprom_version != AP_MISSION_EEPROM_VERSION) {
if (clear()) {
_storage.write_uint32(0, AP_MISSION_EEPROM_VERSION);
}
}
}
/*
return total number of commands that can fit in storage space
*/
uint16_t AP_Mission::num_commands_max(void) const
{
// -4 to remove space for eeprom version number
return (_storage.size() - 4) / AP_MISSION_EEPROM_COMMAND_SIZE;
}
// find the nearest landing sequence starting point (DO_LAND_START) and
// return its index. Returns 0 if no appropriate DO_LAND_START point can
// be found.
uint16_t AP_Mission::get_landing_sequence_start()
{
struct Location current_loc;
if (!AP::ahrs().get_location(current_loc)) {
return 0;
}
uint16_t landing_start_index = 0;
float min_distance = -1;
// Go through mission looking for nearest landing start command
for (uint16_t i = 1; i < num_commands(); i++) {
Mission_Command tmp;
if (!read_cmd_from_storage(i, tmp)) {
continue;
}
if (tmp.id == MAV_CMD_DO_LAND_START) {
if (!tmp.content.location.initialised() && !get_next_nav_cmd(i, tmp)) {
// command does not have a valid location and cannot get next valid
continue;
}
float tmp_distance = tmp.content.location.get_distance(current_loc);
if (min_distance < 0 || tmp_distance < min_distance) {
min_distance = tmp_distance;
landing_start_index = i;
}
}
}
return landing_start_index;
}
/*
find the nearest landing sequence starting point (DO_LAND_START) and
switch to that mission item. Returns false if no DO_LAND_START
available.
*/
bool AP_Mission::jump_to_landing_sequence(void)
{
uint16_t land_idx = get_landing_sequence_start();
if (land_idx != 0 && set_current_cmd(land_idx)) {
//if the mission has ended it has to be restarted
if (state() == AP_Mission::MISSION_STOPPED) {
resume();
}
gcs().send_text(MAV_SEVERITY_INFO, "Landing sequence start");
_flags.in_landing_sequence = true;
return true;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to start landing sequence");
return false;
}
// jumps the mission to the closest landing abort that is planned, returns false if unable to find a valid abort
bool AP_Mission::jump_to_abort_landing_sequence(void)
{
struct Location current_loc;
uint16_t abort_index = 0;
if (AP::ahrs().get_location(current_loc)) {
float min_distance = FLT_MAX;
for (uint16_t i = 1; i < num_commands(); i++) {
Mission_Command tmp;
if (!read_cmd_from_storage(i, tmp)) {
continue;
}
if (tmp.id == MAV_CMD_DO_GO_AROUND) {
float tmp_distance = tmp.content.location.get_distance(current_loc);
if (tmp_distance < min_distance) {
min_distance = tmp_distance;
abort_index = i;
}
}
}
}
if (abort_index != 0 && set_current_cmd(abort_index)) {
//if the mission has ended it has to be restarted
if (state() == AP_Mission::MISSION_STOPPED) {
resume();
}
_flags.in_landing_sequence = false;
gcs().send_text(MAV_SEVERITY_INFO, "Landing abort sequence start");
return true;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Unable to start find a landing abort sequence");
return false;
}
// check which is the shortest route to landing an RTL via a DO_LAND_START or continuing on the current mission plan
bool AP_Mission::is_best_land_sequence(void)
{
// check if there is even a running mission to interupt
if (_flags.state != MISSION_RUNNING) {
return false;
}
// check if aircraft has already jumped to a landing sequence
if (_flags.in_landing_sequence) {
return true;
}
// check if MIS_OPTIONS bit set to allow distance calculation to be done
if (!(_options & AP_MISSION_MASK_DIST_TO_LAND_CALC)) {
return false;
}
// The decision to allow a failsafe to interupt a potential landing approach
// is a distance travelled minimization problem. Look forward in
// mission to evaluate the shortest remaining distance to land.
// go through the mission for the nearest DO_LAND_START first as this is the most probable route
// to a landing with the minimum number of WP.
uint16_t do_land_start_index = get_landing_sequence_start();
if (do_land_start_index == 0) {
// then no DO_LAND_START commands are in mission and normal failsafe behaviour should be maintained
return false;
}
// get our current location
Location current_loc;
if (!AP::ahrs().get_location(current_loc)) {
// we don't know where we are!!
return false;
}
// get distance to landing if travelled to nearest DO_LAND_START via RTL
float dist_via_do_land;
if (!distance_to_landing(do_land_start_index, dist_via_do_land, current_loc)) {
// cant get a valid distance to landing
return false;
}
// get distance to landing if continue along current mission path
float dist_continue_to_land;
if (!distance_to_landing(_nav_cmd.index, dist_continue_to_land, current_loc)) {
// cant get a valid distance to landing
return false;
}
// compare distances
if (dist_via_do_land >= dist_continue_to_land) {
// then the mission should carry on uninterrupted as that is the shorter distance
gcs().send_text(MAV_SEVERITY_NOTICE, "Rejecting RTL: closer land if mis continued");
return true;
} else {
// allow failsafes to interrupt the current mission
return false;
}
}
// Approximate the distance travelled to get to a landing. DO_JUMP commands are observed in look forward.
bool AP_Mission::distance_to_landing(uint16_t index, float &tot_distance, Location prev_loc)
{
Mission_Command temp_cmd;
tot_distance = 0.0f;
bool ret;
// back up jump tracking to reset after distance calculation
jump_tracking_struct _jump_tracking_backup[AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS];
for (uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
_jump_tracking_backup[i] = _jump_tracking[i];
}
// run through remainder of mission to approximate a distance to landing
for (uint8_t i=0; i<255; i++) {
// search until the end of the mission command list
for (uint16_t cmd_index = index; cmd_index < (unsigned)_cmd_total; cmd_index++) {
// get next command
if (!get_next_cmd(cmd_index, temp_cmd, true, false)) {
// we got to the end of the mission
ret = false;
goto reset_do_jump_tracking;
}
if (temp_cmd.id == MAV_CMD_NAV_WAYPOINT || temp_cmd.id == MAV_CMD_NAV_SPLINE_WAYPOINT || is_landing_type_cmd(temp_cmd.id)) {
break;
} else if (is_nav_cmd(temp_cmd) || temp_cmd.id == MAV_CMD_CONDITION_DELAY) {
// if we receive a nav command that we dont handle then give up as cant measure the distance e.g. MAV_CMD_NAV_LOITER_UNLIM
ret = false;
goto reset_do_jump_tracking;
}
}
index = temp_cmd.index+1;
if (!(temp_cmd.content.location.lat == 0 && temp_cmd.content.location.lng == 0)) {
// add distance to running total
float disttemp = prev_loc.get_distance(temp_cmd.content.location);
tot_distance = tot_distance + disttemp;
// store wp location as previous
prev_loc = temp_cmd.content.location;
}
if (is_landing_type_cmd(temp_cmd.id)) {
// reached a landing!
ret = true;
goto reset_do_jump_tracking;
}
}
// reached end of loop without getting to a landing
ret = false;
reset_do_jump_tracking:
for (uint8_t i=0; i<AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS; i++) {
_jump_tracking[i] = _jump_tracking_backup[i];
}
return ret;
}
// check if command is a landing type command.
bool AP_Mission::is_landing_type_cmd(uint16_t id) const
{
switch (id) {
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_DO_PARACHUTE:
return true;
default:
return false;
}
}
// check if command is a takeoff type command.
bool AP_Mission::is_takeoff_type_cmd(uint16_t id) const
{
switch (id) {
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_VTOL_TAKEOFF:
return true;
default:
return false;
}
}
const char *AP_Mission::Mission_Command::type() const
{
switch (id) {
case MAV_CMD_NAV_WAYPOINT:
return "WP";
case MAV_CMD_NAV_SPLINE_WAYPOINT:
return "SplineWP";
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return "RTL";
case MAV_CMD_NAV_LOITER_UNLIM:
return "LoitUnlim";
case MAV_CMD_NAV_LOITER_TIME:
return "LoitTime";
case MAV_CMD_NAV_GUIDED_ENABLE:
return "GuidedEnable";
case MAV_CMD_NAV_LOITER_TURNS:
return "LoitTurns";
case MAV_CMD_NAV_LOITER_TO_ALT:
return "LoitAltitude";
case MAV_CMD_NAV_SET_YAW_SPEED:
return "SetYawSpd";
case MAV_CMD_CONDITION_DELAY:
return "CondDelay";
case MAV_CMD_CONDITION_DISTANCE:
return "CondDist";
case MAV_CMD_DO_CHANGE_SPEED:
return "ChangeSpeed";
case MAV_CMD_DO_SET_HOME:
return "SetHome";
case MAV_CMD_DO_SET_SERVO:
return "SetServo";
case MAV_CMD_DO_SET_RELAY:
return "SetRelay";
case MAV_CMD_DO_REPEAT_SERVO:
return "RepeatServo";
case MAV_CMD_DO_REPEAT_RELAY:
return "RepeatRelay";
case MAV_CMD_DO_CONTROL_VIDEO:
return "CtrlVideo";
case MAV_CMD_DO_DIGICAM_CONFIGURE:
return "DigiCamCfg";
case MAV_CMD_DO_DIGICAM_CONTROL:
return "DigiCamCtrl";
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
return "SetCamTrigDst";
case MAV_CMD_DO_SET_ROI:
return "SetROI";
case MAV_CMD_DO_SET_REVERSE:
return "SetReverse";
case MAV_CMD_DO_SET_RESUME_REPEAT_DIST:
return "SetRepeatDist";
case MAV_CMD_DO_GUIDED_LIMITS:
return "GuidedLimits";
case MAV_CMD_NAV_TAKEOFF:
return "Takeoff";
case MAV_CMD_NAV_LAND:
return "Land";
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:
return "ContinueAndChangeAlt";
case MAV_CMD_NAV_ALTITUDE_WAIT:
return "AltitudeWait";
case MAV_CMD_NAV_VTOL_TAKEOFF:
return "VTOLTakeoff";
case MAV_CMD_NAV_VTOL_LAND:
return "VTOLLand";
case MAV_CMD_DO_INVERTED_FLIGHT:
return "InvertedFlight";
case MAV_CMD_DO_FENCE_ENABLE:
return "FenceEnable";
case MAV_CMD_DO_AUTOTUNE_ENABLE:
return "AutoTuneEnable";
case MAV_CMD_DO_VTOL_TRANSITION:
return "VTOLTransition";
case MAV_CMD_DO_ENGINE_CONTROL:
return "EngineControl";
case MAV_CMD_CONDITION_YAW:
return "CondYaw";
case MAV_CMD_DO_LAND_START:
return "LandStart";
case MAV_CMD_NAV_DELAY:
return "Delay";
case MAV_CMD_DO_GRIPPER:
return "Gripper";
case MAV_CMD_NAV_PAYLOAD_PLACE:
return "PayloadPlace";
case MAV_CMD_DO_PARACHUTE:
return "Parachute";
case MAV_CMD_DO_SPRAYER:
return "Sprayer";
case MAV_CMD_DO_AUX_FUNCTION:
return "AuxFunction";
case MAV_CMD_DO_MOUNT_CONTROL:
return "MountControl";
case MAV_CMD_DO_WINCH:
return "Winch";
case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
return "Scripting";
case MAV_CMD_DO_JUMP:
return "Jump";
case MAV_CMD_DO_GO_AROUND:
return "Go Around";
case MAV_CMD_NAV_SCRIPT_TIME:
return "NavScriptTime";
case MAV_CMD_NAV_ATTITUDE_TIME:
return "NavAttitudeTime";
case MAV_CMD_DO_PAUSE_CONTINUE:
return "PauseContinue";
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
return "GimbalPitchYaw";
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Mission command with ID %u has no string", id);
#endif
return "?";
}
}
bool AP_Mission::contains_item(MAV_CMD command) const
{
for (int i = 1; i < num_commands(); i++) {
Mission_Command tmp;
if (!read_cmd_from_storage(i, tmp)) {
continue;
}
if (tmp.id == command) {
return true;
}
}
return false;
}
/*
return true if the mission has a terrain relative item. ~2200us for 530 items on H7
*/
bool AP_Mission::contains_terrain_alt_items(void)
{
if (_last_contains_relative_calculated_ms != _last_change_time_ms) {
_contains_terrain_alt_items = calculate_contains_terrain_alt_items();
_last_contains_relative_calculated_ms = _last_change_time_ms;
}
return _contains_terrain_alt_items;
}
bool AP_Mission::calculate_contains_terrain_alt_items(void) const
{
for (int i = 1; i < num_commands(); i++) {
Mission_Command tmp;
if (!read_cmd_from_storage(i, tmp)) {
continue;
}
if (stored_in_location(tmp.id) && tmp.content.location.terrain_alt) {
return true;
}
}
return false;
}
// reset the mission history to prevent recalling previous mission histories after a mission restart.
void AP_Mission::reset_wp_history(void)
{
for (uint8_t i = 0; i<AP_MISSION_MAX_WP_HISTORY; i++) {
_wp_index_history[i] = AP_MISSION_CMD_INDEX_NONE;
}
_resume_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.resuming_mission = false;
_repeat_dist = 0;
}
// store the latest reported position incase of mission exit and rewind resume
void AP_Mission::update_exit_position(void)
{
if (!AP::ahrs().get_location(_exit_position)) {
_exit_position.lat = 0;
_exit_position.lng = 0;
}
}
// calculate the location of the _resume_cmd wp and set as current
bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
{
// check for a recent history
if (_wp_index_history[LAST_WP_PASSED] == AP_MISSION_CMD_INDEX_NONE) {
// no saved history so can't rewind
return false;
}
// check that we have a valid exit position
if (_exit_position.lat == 0 && _exit_position.lng == 0) {
return false;
}
Mission_Command temp_cmd;
float rewind_distance = _repeat_dist; //(m)
uint16_t resume_index;
Location prev_loc = _exit_position;
for (int8_t i = (LAST_WP_PASSED); i>=0; i--) {
// to get this far there has to be at least one 'passed wp' stored in history. This is to check incase
// of history array no being completely filled with valid waypoints upon resume.
if (_wp_index_history[i] == AP_MISSION_CMD_INDEX_NONE) {
// no more stored history
resume_index = i+1;
break;
}
if (!read_cmd_from_storage(_wp_index_history[i], temp_cmd)) {
// if read from storage failed then don't use rewind
return false;
}
// calculate distance
float disttemp = prev_loc.get_distance(temp_cmd.content.location); //(m)
rewind_distance -= disttemp;
resume_index = i;
if (rewind_distance <= 0.0f) {
// history rewound enough distance to meet _repeat_dist requirement
rewind_cmd = temp_cmd;
break;
}
// store wp location as previous
prev_loc = temp_cmd.content.location;
}
if (rewind_distance > 0.0f) {
// then the history array was rewound all of the way without finding a wp distance > _repeat_dist distance.
// the last read temp_cmd will be the furthest cmd back in the history array so resume to that.
rewind_cmd = temp_cmd;
return true;
}
// if we have got this far the desired rewind distance lies between two waypoints stored in history array.
// calculate the location for the mission to resume
// the last wp read from storage is the wp that is before the resume wp in the mission order
Location passed_wp_loc = temp_cmd.content.location;
// fetch next destination wp
if (!read_cmd_from_storage(_wp_index_history[resume_index+1], temp_cmd)) {
// if read from storage failed then don't use rewind
return false;
}
// determine the length of the mission leg that the resume wp lies in
float leg_length = passed_wp_loc.get_distance(temp_cmd.content.location); //(m)
// calculate the percentage along the leg that resume wp will be positioned
float leg_percent = fabsf(rewind_distance)/leg_length;
// calculate difference vector of mission leg
Vector3f dist_vec = passed_wp_loc.get_distance_NED(temp_cmd.content.location);
// calculate the resume wp position
rewind_cmd.content.location.offset(dist_vec.x * leg_percent, dist_vec.y * leg_percent);
rewind_cmd.content.location.alt -= dist_vec.z * leg_percent * 100; //(cm)
// The rewind_cmd.index has the index of the 'last passed wp' from the history array. This ensures that the mission order
// continues as planned without further intervention. The resume wp is not written to memory so will not perminantely change the mission.
// if we got this far then mission rewind position was successfully calculated
return true;
}
// singleton instance
AP_Mission *AP_Mission::_singleton;
namespace AP
{
AP_Mission *mission()
{
return AP_Mission::get_singleton();
}
}
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