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ardupilot/APMrover2/commands_logic.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Rover.h"
/********************************************************************************/
// Command Event Handlers
/********************************************************************************/
bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
{
// log when new commands start
if (should_log(MASK_LOG_CMD)) {
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
// exit immediately if not in AUTO mode
if (control_mode != AUTO) {
return false;
}
gcs_send_text_fmt(PSTR("Executing command ID #%i"),cmd.id);
// remember the course of our next navigation leg
next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
switch(cmd.id){
case MAV_CMD_NAV_WAYPOINT: // Navigate to Waypoint
do_nav_wp(cmd);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL();
break;
case MAV_CMD_NAV_LOITER_UNLIM: // Loiter indefinitely
do_loiter_unlimited(cmd);
break;
case MAV_CMD_NAV_LOITER_TIME:
do_loiter_time(cmd);
break;
// Conditional commands
case MAV_CMD_CONDITION_DELAY:
do_wait_delay(cmd);
break;
case MAV_CMD_CONDITION_DISTANCE:
do_within_distance(cmd);
break;
// Do commands
case MAV_CMD_DO_CHANGE_SPEED:
do_change_speed(cmd);
break;
case MAV_CMD_DO_SET_HOME:
do_set_home(cmd);
break;
case MAV_CMD_DO_SET_SERVO:
ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
case MAV_CMD_DO_SET_RELAY:
ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
case MAV_CMD_DO_REPEAT_SERVO:
ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
break;
case MAV_CMD_DO_REPEAT_RELAY:
ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
#if CAMERA == ENABLED
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|
break;
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)|
do_digicam_configure(cmd);
break;
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|
do_digicam_control(cmd);
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
#endif
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control
// system to control the vehicle attitude and the attitude of various
// devices such as cameras.
// |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|
case MAV_CMD_DO_SET_ROI:
if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
// switch off the camera tracking if enabled
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
camera_mount.set_roi_target(cmd.content.location);
}
break;
#endif
default:
// return false for unhandled commands
return false;
}
// if we got this far we must have been successful
return true;
}
// exit_mission - callback function called from ap-mission when the mission has completed
// 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
void Rover::exit_mission()
{
if (control_mode == AUTO) {
gcs_send_text_fmt(PSTR("No commands. Can't set AUTO - setting HOLD"));
set_mode(HOLD);
}
}
// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
// 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
bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
{
if (control_mode == AUTO) {
bool cmd_complete = verify_command(cmd);
// send message to GCS
if (cmd_complete) {
gcs_send_mission_item_reached_message(cmd.index);
}
return cmd_complete;
}
return false;
}
/********************************************************************************/
// Verify command Handlers
// Returns true if command complete
/********************************************************************************/
bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{
switch(cmd.id) {
case MAV_CMD_NAV_WAYPOINT:
return verify_nav_wp(cmd);
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
return verify_RTL();
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlimited(cmd);
case MAV_CMD_NAV_LOITER_TIME:
return verify_loiter_time(cmd);
case MAV_CMD_CONDITION_DELAY:
return verify_wait_delay();
case MAV_CMD_CONDITION_DISTANCE:
return verify_within_distance();
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
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_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
return true;
default:
// error message
gcs_send_text_fmt(PSTR("Skipping invalid cmd #%i"), cmd.id);
// return true if we do not recognize the command so that we move on to the next command
return true;
}
}
/********************************************************************************/
// Nav (Must) commands
/********************************************************************************/
void Rover::do_RTL(void)
{
prev_WP = current_loc;
control_mode = RTL;
next_WP = home;
}
void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)
{
// just starting so we haven't previously reached the waypoint
previously_reached_wp = false;
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_start_time = 0;
// this is the delay, stored in seconds
loiter_duration = cmd.p1;
// this is the distance we travel past the waypoint - not there yet so 0 initially
distance_past_wp = 0;
Location cmdloc = cmd.content.location;
set_next_WP(cmdloc);
}
void Rover::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
active_loiter = true;
do_nav_wp(cmd);
loiter_duration = 100; // an arbitrary large loiter time
}
// do_loiter_time - initiate loitering at a point for a given time period
// if the vehicle is moved off the loiter point (i.e. a boat in a current)
// then the vehicle will actively return to the loiter coords.
void Rover::do_loiter_time(const AP_Mission::Mission_Command& cmd)
{
active_loiter = true;
do_nav_wp(cmd);
}
/********************************************************************************/
// Verify Nav (Must) commands
/********************************************************************************/
bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
{
// Have we reached the waypoint i.e. are we within waypoint_radius of the waypoint
if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
// check if we are loitering at this waypoint - the message sent to the GCS is different
if (loiter_duration > 0) {
// Check if this is the first time we have reached the waypoint
if (!previously_reached_wp) {
gcs_send_text_fmt(PSTR("Reached waypoint #%i. Loiter for %i seconds"),
(unsigned)cmd.index,
(unsigned)loiter_duration);
// record the current time i.e. start timer
loiter_start_time = millis();
previously_reached_wp = true;
}
distance_past_wp = wp_distance;
// Check if we have loiter long enough
if (((millis() - loiter_start_time) / 1000) < loiter_duration) {
return false;
}
} else {
gcs_send_text_fmt(PSTR("Reached waypoint #%i. Distance %um"),
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
}
// set loiter_duration to 0 so we know we aren't or have finished loitering
loiter_duration = 0;
return true;
}
// have we gone past the waypoint?
// We should always go through the waypoint i.e. the above code
// first before we go past it but sometimes we don't.
// OR have we reached the waypoint previously be we aren't actively loitering
// This second check is required for when we roll past the waypoint radius
if (location_passed_point(current_loc, prev_WP, next_WP) ||
(!active_loiter && previously_reached_wp)) {
// As we have passed the waypoint navigation needs to be done from current location
prev_WP = current_loc;
// Check if this is the first time we have reached the waypoint even though we have gone past it
if (!previously_reached_wp) {
gcs_send_text_fmt(PSTR("Reached waypoint #%i. Loiter for %i seconds"),
(unsigned)cmd.index,
(unsigned)loiter_duration);
// record the current time i.e. start timer
loiter_start_time = millis();
previously_reached_wp = true;
distance_past_wp = wp_distance;
}
// check if distance to the WP has changed and output new message if it has
float dist_to_wp = get_distance(current_loc, next_WP);
if ((uint32_t)distance_past_wp != (uint32_t)dist_to_wp) {
distance_past_wp = dist_to_wp;
gcs_send_text_fmt(PSTR("Passed waypoint #%i. Distance %um"),
(unsigned)cmd.index,
(unsigned)distance_past_wp);
}
// Check if we need to loiter at this waypoint
if (loiter_duration > 0) {
if (((millis() - loiter_start_time) / 1000) < loiter_duration) {
return false;
}
}
// set loiter_duration to 0 so we know we aren't or have finished loitering
loiter_duration = 0;
return true;
}
return false;
}
bool Rover::verify_RTL()
{
if (wp_distance <= g.waypoint_radius) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached Destination"));
rtl_complete = true;
return true;
}
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(PSTR("Reached Destination: Distance away %um"),
(unsigned)get_distance(current_loc, next_WP));
rtl_complete = true;
return true;
}
return false;
}
bool Rover::verify_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
// Continually set loiter start time to now so it never finishes
loiter_start_time += millis();
verify_nav_wp(cmd);
return false;
}
// verify_loiter_time - check if we have loitered long enough
bool Rover::verify_loiter_time(const AP_Mission::Mission_Command& cmd)
{
bool result = verify_nav_wp(cmd);
if (result) {
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Finished active loiter\n"));
// if we have finished active loitering - turn it off
active_loiter = false;
}
return result;
}
/********************************************************************************/
// Condition (May) commands
/********************************************************************************/
void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
}
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.distance.meters;
}
/********************************************************************************/
// Verify Condition (May) commands
/********************************************************************************/
bool Rover::verify_wait_delay()
{
if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){
condition_value = 0;
return true;
}
return false;
}
bool Rover::verify_within_distance()
{
if (wp_distance < condition_value){
condition_value = 0;
return true;
}
return false;
}
/********************************************************************************/
// Do (Now) commands
/********************************************************************************/
void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt(PSTR("Cruise speed: %.1f m/s"), (double)g.speed_cruise.get());
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt(PSTR("Cruise throttle: %.1f"), g.throttle_cruise.get());
}
}
void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
{
if(cmd.p1 == 1 && have_position) {
init_home();
} else {
ahrs.set_home(cmd.content.location);
home_is_set = true;
Log_Write_Home_And_Origin();
}
}
// do_digicam_configure Send Digicam Configure message with the camera library
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.configure_cmd(cmd);
#endif
}
// do_digicam_control Send Digicam Control message with the camera library
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.control_cmd(cmd);
log_picture();
#endif
}
// do_take_picture - take a picture with the camera library
void Rover::do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic(true);
log_picture();
#endif
}
// log_picture - log picture taken and send feedback to GCS
void Rover::log_picture()
{
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
}
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